diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cfdb3ce99c31b56d6c22c183e2ac723d084ffc26 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/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_T20190907_174127_043461)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object\n AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41 - object\n CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 - object\n CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95 - object\n CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 - object\n CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object\n CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 - object\n CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 - object\n CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 - object\n KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 - object\n Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 - object\n Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39 - object\n Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22 - object\n TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 - object\n Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_5_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 PencilType)\n (objectType Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39 PencilType)\n (objectType KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95 KeyChainType)\n (objectType CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 CreditCardType)\n (objectType CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 CellPhoneType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 KeyChainType)\n (objectType CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 CellPhoneType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95 CDType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType)\n (objectType AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 AlarmClockType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 CreditCardType)\n (objectType Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 PenType)\n (objectType Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 WatchType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 CDType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41 CDType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22 TissueBoxType)\n (objectType Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType)\n (objectType TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22 TissueBoxType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58 CreditCardType)\n (objectType KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 KeyChainType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 TissueBoxType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 AlarmClockType)\n (objectType CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 CellPhoneType)\n (objectType 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Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (inReceptacle AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "use desklamp 1", "take alarmclock 2 from dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f8592dfcc030a554fabcc9861012afa4d7e426b4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174127_043461/initial_state.pddl @@ -0,0 +1,825 @@ + +(define (problem plan_trial_T20190907_174127_043461) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 - object + AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41 - object + CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 - object + CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95 - object + CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 - object + CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 - object + CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 - object + CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 - object + CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 - object + KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95 - object + KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 - object + Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 - object + Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39 - object + Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22 - object + TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 - object + Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + 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+ Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_5_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType 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(canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType TissueBoxType) + (canContain DresserType StatueType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType TissueBoxType) + (pickupable Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15) + (pickupable Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39) + (pickupable KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95) + (pickupable CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27) + (pickupable CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29) + (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75) + (pickupable CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60) + (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84) + (pickupable CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95) + (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89) + (pickupable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (pickupable AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65) + (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34) + (pickupable CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40) + (pickupable Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37) + (pickupable Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84) + (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98) + (pickupable CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15) + (pickupable CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41) + (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42) + (pickupable TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22) + (pickupable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15) + (pickupable TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22) + (pickupable CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58) + (pickupable KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94) + (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18) + (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54) + (pickupable AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28) + (pickupable CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61) + (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89) + (isReceptacleObject Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (isReceptacleObject Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21) + (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21) + + (atLocation agent1 loc_bar__minus_3_bar__minus_5_bar_0_bar_30) + + (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (cleanable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (cleanable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15) + + (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (heatable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15) + (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21) + (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (coolable Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15) + + + (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99) + + + + + (inReceptacle CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21) + (inReceptacle Pencil_bar__plus_01_dot_76_bar__plus_00_dot_81_bar__minus_01_dot_39 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42) + (inReceptacle KeyChain_bar__minus_01_dot_29_bar__plus_00_dot_11_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92) + (inReceptacle Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CD_bar__plus_01_dot_52_bar__plus_00_dot_80_bar__minus_01_dot_41 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CD_bar__minus_01_dot_27_bar__plus_00_dot_68_bar__minus_00_dot_95 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92) + (inReceptacle TissueBox_bar__plus_01_dot_98_bar__plus_00_dot_35_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (inReceptacle CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58) + (inReceptacle TissueBox_bar__plus_01_dot_95_bar__plus_00_dot_57_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21) + (inReceptacle AlarmClock_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Watch_bar__minus_01_dot_28_bar__plus_01_dot_24_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58) + (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pen_bar__plus_02_dot_69_bar__plus_01_dot_05_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + + + (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_22_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_21_bar__plus_01_dot_23_bar__minus_00_dot_94 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_28 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_96_bar__plus_01_dot_05_bar__minus_01_dot_40 loc_bar_7_bar__minus_3_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_12_bar__plus_00_dot_57_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_79_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_29_bar__plus_00_dot_57_bar__plus_01_dot_09 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and then face the lamp.", + "Turn the lamp on." + ], + "task_desc": "Pick up the alarm clock and turn on the lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3HPZF4IVNPA6AQJD8TAG6KTAZ2DCYR", + "high_descs": [ + "Move to the white dresser to the left of the bed", + "Pick up the alarm clock on top of the dresser", + "Carry the alarm clock to the left side of the dresser", + "Turn on the lamp on top of the dresser" + ], + "task_desc": "Carry an alarm clock while turning on a lamp", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3Q8GYXHFESJ8829TXR5JVNVH4YR5CO", + "high_descs": [ + "turn to the left to face the dresser", + "pick up the alarm clock off of the dresser", + "move to the left to face the left side of the dresser where the lamp is sitting", + "turn the lamp on" + ], + "task_desc": "examine an alarm clock by the light of the lamp on the dresser", + "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-301/trial_T20190907_174142_375532/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7b8444e532b89c3b1a5f4fef2c15c17b06b35c1b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/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_T20190907_174142_375532)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 - object\n AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 - object\n CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 - object\n CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 - object\n CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 - object\n KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object\n Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 - object\n Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object\n Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 - object\n Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 - object\n Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 PenType)\n (objectType Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 PencilType)\n (objectType CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 KeyChainType)\n (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 WatchType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType)\n (objectType TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType)\n (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 KeyChainType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 PenType)\n (objectType CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 CreditCardType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 BowlType)\n (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 CellPhoneType)\n (objectType AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 AlarmClockType)\n (objectType CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 CreditCardType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 CDType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 KeyChainType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 WatchType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType TissueBoxType)\n (canContain DeskType StatueType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54)\n (pickupable Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39)\n (pickupable CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46)\n (pickupable Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09)\n (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (pickupable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25)\n (pickupable TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36)\n (pickupable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55)\n (pickupable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (pickupable CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27)\n (pickupable KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55)\n (pickupable Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (isReceptacleObject Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (isReceptacleObject Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar__minus_3_bar__minus_2_bar_0_bar_30)\n \n (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (cleanable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (cleanable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22)\n \n (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22)\n (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15)\n (coolable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58)\n (inReceptacle CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?ot - object\n ?r - receptacle\n ?a - agent\n ?l - location)\n (and\n (objectType ?ot DeskLampType)\n (toggleable ?ot)\n (isToggled ?ot)\n (receptacleAtLocation ?r ?l)\n (atLocation ?a ?l)\n (inReceptacle ?ot ?r)\n )\n )\n (exists (?o - object\n ?a - agent)\n (and\n (objectType ?o AlarmClockType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "use desklamp 1", "take alarmclock 2 from dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..923071649a885bb07a9c39477b2b2982ebf44163 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/initial_state.pddl @@ -0,0 +1,805 @@ + +(define (problem plan_trial_T20190907_174142_375532) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 - object + AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 - object + Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 - object + CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 - object + CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 - object + CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 - object + KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 - object + KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 - object + Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 - object + Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 - object + Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 - object + Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 - object + Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (objectType Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 PenType) + (objectType Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 PencilType) + (objectType CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 CreditCardType) + (objectType Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 LaptopType) + (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 KeyChainType) + (objectType Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 MugType) + (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType) + (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType) + (objectType Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 WatchType) + (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 AlarmClockType) + (objectType TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType) + (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType) + (objectType Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 BookType) + (objectType Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 MugType) + (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType) + (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType) + (objectType KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 KeyChainType) + (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType) + (objectType 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(openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21) + (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21) + + (atLocation agent1 loc_bar__minus_3_bar__minus_2_bar_0_bar_30) + + (cleanable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + (cleanable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (cleanable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22) + + (heatable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + (heatable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (coolable Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22) + (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15) + (coolable Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22) + + + (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99) + + + + + (inReceptacle TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21) + (inReceptacle Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15) + (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58) + (inReceptacle CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21) + (inReceptacle CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42) + + + (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_82_bar__plus_00_dot_79_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_54 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Watch_bar__plus_02_dot_59_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_25 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_69_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45) + (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_81_bar__plus_00_dot_57_bar__plus_00_dot_36 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_29_bar__plus_00_dot_56_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_02_dot_82_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_39 loc_bar_8_bar__minus_3_bar_2_bar_30) + (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_35_bar__plus_01_dot_24_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_38 loc_bar_10_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30) + (objectAtLocation CD_bar__plus_01_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15) + (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?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-301/trial_T20190907_174142_375532/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..27e2febd90d9e39b8f949766fdcb5e9a173dadee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174142_375532/traj_data.json @@ -0,0 +1,2396 @@ +{ + "images": [ + { + 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+ } + }, + { + "objectName": "Watch_0f7be4f9", + "position": { + "x": 2.58602, + "y": 0.810996652, + "z": -1.42691219 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_f25640ea", + "position": { + "x": 1.98229468, + "y": 0.126989931, + "z": -1.27466273 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_d94967db", + "position": { + "x": -1.29372144, + "y": 0.387759, + "z": -0.543433368 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2a940808", + "position": { + "x": 2.82123137, + "y": 0.7887161, + "z": -1.22375667 + }, + "rotation": { + "x": -0.000561192166, + "y": -0.00012107833, + "z": 0.0005206931 + } + }, + { + "objectName": "Statue_e0075340", + "position": { + "x": 1.823921, + "y": 1.036511, + "z": -1.419659 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2242886615, + "scene_num": 301 + }, + "task_id": "trial_T20190907_174142_375532", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3DI28L7YXDVOHISOSV92ILI3DVQE11", + "high_descs": [ + "Turn around and face the dresser on the right.", + "Pick up the clock from the back of the dresser.", + "Hold the clock, and move a step to the left.", + "Holding the clock, turn on the lamp." + ], + "task_desc": "Pick up a clock and turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3IAS3U3I0IXXZ0Y0187QMWMN24XB2L", + "high_descs": [ + "turn around, take a couple steps, turn right to face the dresser", + "pick up the alarm clock that is on the dresser", + "take a couple steps to the left to stand in front of lamp", + "turn the lamp on" + ], + "task_desc": "examine the alarm clock with a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3OVHNO1VE9IGK8ZW4B7A4XKUQY6ZDM", + "high_descs": [ + "Turn left to face the dresser.", + "Pick up the alarm clock on the dresser.", + "Move a bit to the left to face the lamp on the dresser.", + "turn on the lamp." + ], + "task_desc": "Look at the alarm clock by lamp light.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e7c4043298bee927d55d0c0e633b09e91323a8db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/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_T20190907_174157_650656)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object\n BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object\n Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object\n Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object\n Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object\n Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object\n Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object\n CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 - object\n CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 - object\n CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 - object\n CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object\n CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 - object\n CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 - object\n CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 - object\n DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object\n KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 - object\n LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object\n Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object\n Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 - object\n Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 - object\n Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 - object\n Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 - object\n Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object\n Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object\n TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 - object\n TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 - object\n TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 - object\n Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 - object\n Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 - object\n Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object\n Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object\n Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle\n Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle\n Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle\n Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle\n GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle\n Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle\n loc_bar_9_bar_4_bar_1_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_45 - location\n loc_bar_8_bar__minus_2_bar_1_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_45 - location\n loc_bar_10_bar_5_bar_0_bar_30 - location\n loc_bar_3_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar__minus_3_bar_1_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location\n loc_bar_9_bar__minus_2_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location\n loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_1_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location\n loc_bar_4_bar__minus_2_bar_1_bar_60 - location\n loc_bar_8_bar_5_bar_0_bar_30 - location\n loc_bar_8_bar__minus_3_bar_2_bar_30 - location\n loc_bar_10_bar_5_bar_0_bar_60 - location\n loc_bar_8_bar__minus_3_bar_2_bar_60 - location\n loc_bar_10_bar__minus_2_bar_2_bar_45 - location\n loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location\n loc_bar_10_bar__minus_2_bar_2_bar_30 - location\n loc_bar__minus_3_bar__minus_2_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType)\n (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType)\n (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType)\n (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType)\n (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType)\n (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType)\n (objectType CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType)\n (objectType CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 CDType)\n (objectType TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 TissueBoxType)\n (objectType CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 CreditCardType)\n (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType)\n (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 PenType)\n (objectType BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 BaseballBatType)\n (objectType Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 BoxType)\n (objectType Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 WatchType)\n (objectType TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 TissueBoxType)\n (objectType Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 PenType)\n (objectType CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 CreditCardType)\n (objectType Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 BootsType)\n (objectType BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 BasketBallType)\n (objectType Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 PencilType)\n (objectType KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 KeyChainType)\n (objectType Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 WindowType)\n (objectType Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 StatueType)\n (objectType AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 AlarmClockType)\n (objectType Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 PencilType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 LaptopType)\n (objectType CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 CDType)\n (objectType DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 DeskLampType)\n (objectType KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 KeyChainType)\n (objectType CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 CellPhoneType)\n (objectType Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 WatchType)\n (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 CDType)\n (objectType Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 MugType)\n (objectType LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 LightSwitchType)\n (objectType Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 BookType)\n (objectType Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 PenType)\n (objectType Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 MirrorType)\n (objectType TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 TissueBoxType)\n (objectType Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 WatchType)\n (objectType Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 ChairType)\n (objectType Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 BlindsType)\n (objectType Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType WatchType)\n (canContain DeskType BowlType)\n (canContain DeskType CDType)\n (canContain DeskType MugType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType 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(canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType WatchType)\n (canContain ShelfType BowlType)\n (canContain ShelfType CDType)\n (canContain ShelfType MugType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType StatueType)\n (canContain ShelfType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType WatchType)\n (canContain DresserType BowlType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\n (canContain DresserType BoxType)\n (canContain DresserType CellPhoneType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType BasketBallType)\n (canContain DresserType LaptopType)\n (canContain DresserType PencilType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain DresserType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType WatchType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType TissueBoxType)\n (pickupable CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29)\n (pickupable CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19)\n (pickupable TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46)\n (pickupable CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22)\n (pickupable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (pickupable Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84)\n (pickupable Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (pickupable Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45)\n (pickupable TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58)\n (pickupable Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58)\n (pickupable CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43)\n (pickupable Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34)\n (pickupable BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98)\n (pickupable Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37)\n (pickupable KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (pickupable AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60)\n (pickupable CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16)\n (pickupable KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84)\n (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22)\n (pickupable Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (pickupable Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18)\n (pickupable Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22)\n (pickupable TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22)\n (pickupable Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15)\n (pickupable Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61)\n (isReceptacleObject Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (isReceptacleObject Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89)\n (isReceptacleObject Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (openable Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n \n (atLocation agent1 loc_bar__minus_3_bar__minus_2_bar_0_bar_30)\n \n (cleanable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (cleanable Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n \n (heatable Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n (coolable Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21)\n (coolable Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65)\n \n \n (toggleable DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99)\n \n \n \n \n (inReceptacle Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15)\n (inReceptacle CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21)\n (inReceptacle Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58)\n (inReceptacle CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21)\n (inReceptacle CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75)\n (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58)\n (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87)\n (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42)\n (inReceptacle CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42)\n \n \n (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45)\n (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_45)\n (receptacleAtLocation Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 loc_bar_10_bar_1_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_8_bar__minus_2_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60)\n (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60)\n (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30)\n (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?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 dresser 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1d898c9f845fcc198a072d6390b8bb1a9a7b3feb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-AlarmClock-None-DeskLamp-301/trial_T20190907_174157_650656/initial_state.pddl @@ -0,0 +1,821 @@ + +(define (problem plan_trial_T20190907_174157_650656) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 - object + BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 - object + Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 - object + Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 - object + Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 - object + Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 - object + Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 - object + CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 - object + CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 - object + CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 - object + CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 - object + CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 - object + CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 - object + DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 - object + KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 - object + Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 - object + LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 - object + Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 - object + Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 - object + Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 - object + Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 - object + Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 - object + Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 - object + Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 - object + TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 - object + TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 - object + TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 - object + Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 - object + Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 - object + Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 - object + Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 - object + Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 - receptacle + Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 - receptacle + Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 - receptacle + Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 - receptacle + GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 - receptacle + Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 - receptacle + loc_bar_9_bar_4_bar_1_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_45 - location + loc_bar_8_bar__minus_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_45 - location + loc_bar_10_bar_5_bar_0_bar_30 - location + loc_bar_3_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar__minus_3_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_60 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_1_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_4_bar__minus_2_bar_1_bar_60 - location + loc_bar_8_bar_5_bar_0_bar_30 - location + loc_bar_8_bar__minus_3_bar_2_bar_30 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_8_bar__minus_3_bar_2_bar_60 - location + loc_bar_10_bar__minus_2_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_4_bar_3_bar_45 - location + loc_bar_10_bar__minus_2_bar_2_bar_30 - location + loc_bar__minus_3_bar__minus_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 DeskType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_01_dot_02_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 BedType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58 DrawerType) + (receptacleType GarbageCan_bar__plus_02_dot_84_bar__plus_00_dot_00_bar__plus_00_dot_22 GarbageCanType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_80_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 DrawerType) + (receptacleType Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 ShelfType) + (receptacleType Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75 DresserType) + (receptacleType Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 DrawerType) + (objectType CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 CreditCardType) + (objectType Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 LaptopType) + (objectType CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 CDType) + (objectType TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 TissueBoxType) + (objectType CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 CreditCardType) + (objectType Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 BowlType) + (objectType Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 PenType) + (objectType 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Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 Dresser_bar__minus_01_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_75) + (inReceptacle TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 Drawer_bar__minus_01_dot_29_bar__plus_00_dot_74_bar__minus_00_dot_58) + (inReceptacle Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87) + (inReceptacle Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42) + (inReceptacle CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42) + + + (receptacleAtLocation Bed_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_87 loc_bar_3_bar_5_bar_3_bar_45) + (receptacleAtLocation Desk_bar__plus_02_dot_29_bar__plus_00_dot_01_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_3_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_63_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_1_bar__minus_4_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_18_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_4_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_95_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_17_bar__minus_01_dot_21 loc_bar_10_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_21 loc_bar_8_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_82_bar__plus_00_dot_62_bar__minus_01_dot_21 loc_bar_8_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_17_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_29_bar__plus_00_dot_44_bar__minus_00_dot_92 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation 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Shelf_bar__plus_01_dot_80_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_25_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_8_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_02_dot_47_bar__plus_01_dot_04_bar__minus_01_dot_41 loc_bar_10_bar__minus_2_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_02_dot_70_bar__plus_01_dot_27_bar__minus_01_dot_42 loc_bar_10_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pen_bar__plus_01_dot_65_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_02_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_19 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_25_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_59_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_88_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_8_bar__minus_2_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_01_dot_67_bar__plus_00_dot_13_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_50_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_80_bar__plus_00_dot_81_bar__minus_01_dot_43 loc_bar_10_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_02_bar__plus_00_dot_13_bar__minus_01_dot_16 loc_bar_4_bar__minus_2_bar_1_bar_60) + (objectAtLocation Watch_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_32_bar__plus_01_dot_24_bar__minus_00_dot_46 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_90_bar__plus_00_dot_57_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation Box_bar__plus_02_dot_73_bar__plus_00_dot_20_bar__plus_00_dot_89 loc_bar_9_bar_4_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_02_dot_40_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar_10_bar__minus_2_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_56_bar__plus_00_dot_60 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_39_bar__plus_01_dot_23_bar__minus_00_dot_84 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__plus_02_dot_85_bar__plus_00_dot_64_bar__plus_01_dot_84 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_31_bar__plus_01_dot_23_bar__minus_00_dot_99 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_02_bar__plus_00_dot_33_bar__minus_00_dot_98 loc_bar_4_bar__minus_2_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_29_bar__plus_00_dot_68_bar__minus_00_dot_58 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_75 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_22_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_26_bar__plus_01_dot_28_bar__minus_01_dot_37 loc_bar_8_bar__minus_3_bar_2_bar_30) + (objectAtLocation Boots_bar__minus_01_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_34 loc_bar__minus_3_bar__minus_4_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_11_bar__plus_02_dot_34_bar__minus_01_dot_44 loc_bar_0_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_00_dot_63_bar__plus_01_dot_61 loc_bar_3_bar_5_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_78_bar__plus_00_dot_80_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_02_dot_45_bar__plus_00_dot_79_bar__minus_01_dot_21 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Watch_bar__plus_01_dot_51_bar__plus_00_dot_80_bar__minus_01_dot_45 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_99_bar__plus_01_dot_38_bar__plus_01_dot_88 loc_bar_8_bar_5_bar_0_bar_30) + (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_35_bar__minus_01_dot_22 loc_bar_3_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_84_bar__plus_00_dot_80_bar__minus_01_dot_22 loc_bar_9_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_12_bar__plus_01_dot_50_bar__minus_01_dot_59 loc_bar_0_bar__minus_4_bar_2_bar_15) + (objectAtLocation LightSwitch_bar__plus_02_dot_66_bar__plus_01_dot_28_bar__plus_01_dot_90 loc_bar_10_bar_5_bar_0_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_28_bar__plus_01_dot_23_bar__minus_00_dot_65 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Statue_bar__plus_01_dot_82_bar__plus_01_dot_04_bar__minus_01_dot_42 loc_bar_7_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o AlarmClockType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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CD", + "Carry the clock to the left side of the tall white dresser", + "Turn on the lamp that is sitting on top of the dresser" + ], + "task_desc": "Carry a clock while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3Z7ISHFUH3C43D35N3WUI56TF3MZ8L", + "high_descs": [ + "turn right, walk to the white table on the right", + "grab the clock on the table", + "turn right, walk to the white cabinet", + "turn on the lamp on the cabinet " + ], + "task_desc": "grab the clock from white table, turn on the lamp on cabinet by window", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060429_471715/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060429_471715/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..12a379f0ca0ee15b79acb12b937e0aba3a3b7e25 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060429_471715/initial_state.pddl @@ -0,0 +1,730 @@ + +(define (problem plan_trial_T20190907_060429_471715) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_77_bar__plus_00_dot_73_bar__minus_02_dot_76 - object + AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 - object + BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object + Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_61 - object + Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_98 - object + Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object + CD_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_02_dot_58 - object + CD_bar__minus_01_dot_77_bar__plus_00_dot_36_bar__minus_01_dot_22 - object + CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + CellPhone_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 - object + Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object + Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object + CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object + KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_53 - object + KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_08 - object + Laptop_bar__minus_01_dot_26_bar__plus_00_dot_42_bar__minus_01_dot_98 - object + LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object + Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object + Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32 - object + Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39 - object + Pencil_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_19 - object + Pen_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_65 - object + Pillow_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__minus_01_dot_98 - object + Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object + TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object + Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 - object + Vase_bar__plus_01_dot_19_bar__plus_00_dot_36_bar__minus_02_dot_30 - object + Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object + Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle + Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle + Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle + GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle + loc_bar_7_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_7_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_0_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar_60 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + loc_bar_6_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_45 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_7_bar_1_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType) + (objectType AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 AlarmClockType) + (objectType KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_08 KeyChainType) + (objectType CD_bar__minus_01_dot_77_bar__plus_00_dot_36_bar__minus_01_dot_22 CDType) + (objectType KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_53 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 AlarmClockType) + (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType) + (objectType CD_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_02_dot_58 CDType) + (objectType Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_98 BookType) + (objectType CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 CreditCardType) + (objectType Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 MugType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType) + (objectType CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_53 CellPhoneType) + (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType) + (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType) + (objectType Laptop_bar__minus_01_dot_26_bar__plus_00_dot_42_bar__minus_01_dot_98 LaptopType) + (objectType Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_61 BookType) + (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType) + (objectType Vase_bar__plus_01_dot_19_bar__plus_00_dot_36_bar__minus_02_dot_30 VaseType) + (objectType Pencil_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_19 PencilType) + (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType) + (objectType Pen_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_65 PenType) + (objectType Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 VaseType) + (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType) + (objectType Pillow_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__minus_01_dot_98 PillowType) + (objectType Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39 MugType) + (objectType CellPhone_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 CellPhoneType) + (objectType Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32 MugType) + (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType) + (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType) + (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType VaseType) + (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 ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (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 ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType VaseType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType ClothType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType 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Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32) + (cleanable Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57) + + (heatable Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53) + (heatable Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39) + (heatable Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32) + (coolable Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53) + (coolable Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39) + (coolable Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32) + + + (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79) + + + + + (inReceptacle Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_53 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Pen_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_53 Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37) + (inReceptacle KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_08 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15) + (inReceptacle CD_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_02_dot_58 Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43) + (inReceptacle Pencil_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_19 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15) + (inReceptacle CD_bar__minus_01_dot_77_bar__plus_00_dot_36_bar__minus_01_dot_22 Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15) + (inReceptacle AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14) + (inReceptacle Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32 Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30) + (inReceptacle Vase_bar__plus_01_dot_19_bar__plus_00_dot_36_bar__minus_02_dot_30 Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30) + (inReceptacle Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_98 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle CellPhone_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle Laptop_bar__minus_01_dot_26_bar__plus_00_dot_42_bar__minus_01_dot_98 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_61 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + (inReceptacle Pillow_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__minus_01_dot_98 Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85) + + + (receptacleAtLocation Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (receptacleAtLocation Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 loc_bar__minus_3_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_3_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_5_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 loc_bar_6_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 loc_bar_7_bar__minus_7_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_32_bar__plus_00_dot_05_bar__minus_02_dot_32 loc_bar_3_bar__minus_5_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 loc_bar__minus_4_bar__minus_3_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_53 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Vase_bar__plus_01_dot_19_bar__plus_00_dot_36_bar__minus_02_dot_30 loc_bar_7_bar__minus_6_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_39 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 loc_bar_6_bar__minus_4_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_4_bar__minus_1_bar_3_bar_60) + (objectAtLocation Book_bar__minus_01_dot_72_bar__plus_00_dot_42_bar__minus_01_dot_61 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_31_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Vase_bar__plus_00_dot_54_bar__plus_00_dot_73_bar__minus_02_dot_59 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 loc_bar__minus_3_bar__minus_2_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_4_bar_0_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 loc_bar_7_bar__minus_7_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_08 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 loc_bar__minus_3_bar_0_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_26_bar__plus_00_dot_42_bar__minus_01_dot_98 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15) + (objectAtLocation CD_bar__minus_01_dot_77_bar__plus_00_dot_36_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_3_bar_45) + (objectAtLocation CD_bar__plus_00_dot_63_bar__plus_00_dot_11_bar__minus_02_dot_58 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_65 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_79_bar__plus_00_dot_22_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 loc_bar_2_bar__minus_8_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BaseballBatType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060429_471715/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060429_471715/traj_data.json new file mode 100644 index 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baseball bat that is to the right of the desk on the floor", + "Carry the baseball bat to the left side of the same desk where the desk lamp is on top of the desk", + "Turn on the desk lamp" + ], + "task_desc": "Carry a baseball bat while turning on a desk lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_373ERPL3YRPEZ692GKDCNY0HK14RTT", + "high_descs": [ + "Turn to the left, go to the corner", + "Pick up the baseball bat from the corner", + "Turn to the left, take a few steps", + "Facing the desk, turn on the lamp" + ], + "task_desc": "Pick up the baseball bat from the corner, turn on the desk lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_37Z929RLGCPQ0L9FV9DHD85D611TST", + "high_descs": [ + "turn left, walk across the room to the desk, stand facing the desk", + "pick up the bat that is in the corner", + "turn left, walk towards the bed, turn right to face desk and table", + "turn the lamp on" + ], + "task_desc": "take the bat over to the lamp to turn it on", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3C44YUNSI46M64XQH298DZIGGVDDPL", + "high_descs": [ + "Turn left and walk to the baseball bat on the floor by the desk.", + "Pick up the baseball bat from the floor.", + "Walk to the lamp on the left side of the desk.", + "Turn on the lamp." + ], + "task_desc": "Examine a baseball bat by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060446_184846/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060446_184846/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..82392d74bb596580557eaf2a20e609e878d8341f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BaseballBat-None-DeskLamp-303/trial_T20190907_060446_184846/initial_state.pddl @@ -0,0 +1,735 @@ + +(define (problem plan_trial_T20190907_060446_184846) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_77_bar__plus_00_dot_73_bar__minus_02_dot_76 - object + AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 - object + BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 - object + Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 - object + Book_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 - object + Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 - object + CD_bar__plus_00_dot_74_bar__plus_00_dot_72_bar__minus_02_dot_55 - object + CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_15 - object + CellPhone_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 - object + Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 - object + Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 - object + CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 - object + CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 - object + KeyChain_bar__plus_02_dot_04_bar__plus_00_dot_06_bar__minus_02_dot_35 - object + Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_86 - object + LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 - object + Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 - object + Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 - object + Mug_bar__plus_01_dot_98_bar__plus_01_dot_58_bar__minus_02_dot_32 - object + Mug_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_82 - object + Pencil_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_39 - object + Pencil_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_53 - object + Pen_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 - object + Pen_bar__plus_01_dot_92_bar__plus_00_dot_36_bar__minus_02_dot_24 - object + Pen_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_25 - object + Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 - object + Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 - object + TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 - object + Vase_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_53 - object + Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 - object + Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 - receptacle + Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 - receptacle + Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 - receptacle + Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 - receptacle + Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 - receptacle + GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 - receptacle + Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 - receptacle + SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 - receptacle + loc_bar_7_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_1_bar_3_bar_60 - location + loc_bar_2_bar__minus_8_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_45 - location + loc_bar_2_bar__minus_8_bar_2_bar__minus_30 - location + loc_bar_7_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_45 - location + loc_bar_5_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_0_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_15 - location + loc_bar__minus_4_bar_0_bar_3_bar_60 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_60 - location + loc_bar_6_bar__minus_6_bar_2_bar_60 - location + loc_bar_7_bar__minus_6_bar_2_bar_60 - location + loc_bar_1_bar__minus_8_bar_2_bar_15 - location + loc_bar_7_bar__minus_7_bar_2_bar_30 - location + loc_bar_6_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_45 - location + loc_bar_7_bar__minus_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_7_bar_1_bar_60 - location + loc_bar_5_bar__minus_7_bar_2_bar_30 - location + loc_bar__minus_3_bar_0_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_3_bar_45 - location + loc_bar_0_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_25_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType SideTable_bar__minus_01_dot_82_bar__plus_00_dot_00_bar__minus_01_dot_14 SideTableType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_50_bar__minus_02_dot_43 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_01_dot_37_bar__minus_02_dot_30 ShelfType) + (receptacleType Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65 DresserType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__plus_00_dot_45_bar__plus_00_dot_20_bar__minus_02_dot_43 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_39_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_17_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_97_bar__minus_02_dot_30 ShelfType) + (receptacleType GarbageCan_bar__plus_02_dot_22_bar__plus_00_dot_00_bar__plus_00_dot_31 GarbageCanType) + (receptacleType Bed_bar__minus_01_dot_05_bar__plus_00_dot_00_bar__minus_01_dot_85 BedType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_01_dot_57_bar__minus_02_dot_30 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_79_bar__plus_00_dot_10_bar__minus_01_dot_15 DrawerType) + (receptacleType Shelf_bar__plus_01_dot_31_bar__plus_00_dot_05_bar__minus_02_dot_30 ShelfType) + (receptacleType Desk_bar__minus_01_dot_71_bar__plus_00_dot_00_bar__minus_00_dot_37 DeskType) + (receptacleType Shelf_bar__plus_01_dot_84_bar__plus_00_dot_35_bar__minus_02_dot_30 ShelfType) + (objectType CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_15 CDType) + (objectType Window_bar__plus_00_dot_44_bar__plus_01_dot_40_bar__minus_02_dot_86 WindowType) + (objectType AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 AlarmClockType) + (objectType CD_bar__plus_00_dot_74_bar__plus_00_dot_72_bar__minus_02_dot_55 CDType) + (objectType Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_86 LaptopType) + (objectType Mug_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_82 MugType) + (objectType AlarmClock_bar__minus_01_dot_85_bar__plus_00_dot_50_bar__minus_01_dot_17 AlarmClockType) + (objectType Vase_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_53 VaseType) + (objectType LightSwitch_bar__minus_00_dot_64_bar__plus_01_dot_15_bar__plus_00_dot_50 LightSwitchType) + (objectType Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 BookType) + (objectType CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 CreditCardType) + (objectType Mug_bar__plus_01_dot_19_bar__plus_00_dot_05_bar__minus_02_dot_28 MugType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_00_dot_59_bar__minus_00_dot_79 DeskLampType) + (objectType TennisRacket_bar__plus_02_dot_24_bar__plus_00_dot_28_bar__minus_01_dot_90 TennisRacketType) + (objectType KeyChain_bar__plus_02_dot_04_bar__plus_00_dot_06_bar__minus_02_dot_35 KeyChainType) + (objectType Pen_bar__plus_01_dot_92_bar__plus_00_dot_36_bar__minus_02_dot_24 PenType) + (objectType Chair_bar__minus_01_dot_56_bar__plus_00_dot_00_bar__minus_00_dot_31 ChairType) + (objectType Box_bar__plus_02_dot_00_bar__plus_00_dot_32_bar__minus_01_dot_04 BoxType) + (objectType Pen_bar__minus_01_dot_58_bar__plus_00_dot_60_bar__minus_00_dot_25 PenType) + (objectType BaseballBat_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__plus_00_dot_42 BaseballBatType) + (objectType Pen_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 PenType) + (objectType CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 CreditCardType) + (objectType CellPhone_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_02_dot_10 CellPhoneType) + (objectType Pencil_bar__minus_01_dot_78_bar__plus_00_dot_60_bar__minus_00_dot_53 PencilType) + (objectType Book_bar__minus_01_dot_02_bar__plus_00_dot_42_bar__minus_01_dot_86 BookType) + (objectType Pillow_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__minus_01_dot_83 PillowType) + (objectType Blinds_bar__plus_00_dot_45_bar__plus_02_dot_16_bar__minus_02_dot_85 BlindsType) + (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_60_bar__minus_00_dot_39 PencilType) + (objectType Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 PosterType) + (objectType Mug_bar__plus_01_dot_98_bar__plus_01_dot_58_bar__minus_02_dot_32 MugType) + (objectType Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 ClothType) + (objectType Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 MirrorType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType ClothType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType ClothType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType VaseType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType 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Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CreditCard_bar__plus_00_dot_19_bar__plus_00_dot_73_bar__minus_02_dot_82 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CreditCard_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_71 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Pen_bar__plus_00_dot_08_bar__plus_00_dot_73_bar__minus_02_dot_53 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle CD_bar__plus_00_dot_74_bar__plus_00_dot_72_bar__minus_02_dot_55 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + (inReceptacle Book_bar__plus_00_dot_34_bar__plus_00_dot_72_bar__minus_02_dot_65 Dresser_bar__plus_00_dot_44_bar__plus_00_dot_04_bar__minus_02_dot_65) + 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loc_bar__minus_3_bar_0_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_00_dot_77_bar__plus_00_dot_73_bar__minus_02_dot_76 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_00_bar__plus_01_dot_50_bar__minus_02_dot_64 loc_bar_1_bar__minus_8_bar_2_bar_15) + (objectAtLocation Cloth_bar__plus_02_dot_18_bar__plus_00_dot_00_bar__minus_00_dot_57 loc_bar_7_bar__minus_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_56_bar__plus_00_dot_42_bar__minus_01_dot_86 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_07_bar__plus_01_dot_47_bar__plus_00_dot_50 loc_bar__minus_4_bar_0_bar_0_bar_15) + (objectAtLocation CD_bar__plus_00_dot_74_bar__plus_00_dot_72_bar__minus_02_dot_55 loc_bar_2_bar__minus_8_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__minus_01_dot_15 loc_bar__minus_2_bar__minus_2_bar_3_bar_45) + (objectAtLocation 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} + }, + { + "objectName": "CD_ecad3d62", + "position": { + "x": -1.79454088, + "y": 0.0690067038, + "z": -1.14987588 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_194b8b51", + "position": { + "x": 1.91608047, + "y": 0.361152261, + "z": -2.240366 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_7cb80570", + "position": { + "x": -1.64807248, + "y": 0.6027754, + "z": -0.392395258 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_79472253", + "position": { + "x": 1.9813447, + "y": 1.57567549, + "z": -2.31954455 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2337781350, + "scene_num": 303 + }, + "task_id": "trial_T20190907_060446_184846", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_3WZ36BJEV6XRJZSDKNRMNJVD296BTT", + "high_descs": [ + "Turn around and stand by the desk.", + "Pick up the baseball bat to the right of the desk.", + "Walk to the left side of the desk", + "Turn on the lamp." + ], + "task_desc": "Examine the baseball bat using the lamp light.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3R19ZA45J8915_3TVRFO09GNWADPN9GAHDQPCOR7OXLH", + "high_descs": [ + "Turn completely around and walk over to the desk. ", + "Pick up the baseball bat that is on the floor to the right of the desk. ", + "Move to the other side of the desk where the lamp is sitting.", + "Turn on the lamp. " + ], + "task_desc": "Inspect a baseball bat using the light of a lamp. ", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3UJ1CZ6IZK6OFJYPUDVJASZZQ2K5SR", + "high_descs": [ + "Move to the desk to the left of the mirror", + "pick up a bat from the floor", + "move to the lamp to the left of you", + "turn on the lamp" + ], + "task_desc": "Inspect a bat with a lamp.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_3RSDURM96D3L7O3R4KGBW8TDK8BYEF", + "high_descs": [ + "Turn around and walk to the baseball bat leaning against the wall to the right of the desk.", + "Pick up the baseball bat, handle end up.", + "Turn and carry the bat to the left side of the desk.", + "Turn on the lamp located at the left rear of the desk top." + ], + "task_desc": "Pick up a baseball bat, turn on a lamp on the desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AWEPZMK7825JQ_3WAKVUDHUZXJH04C7B5GNDVJ2XWU7R", + "high_descs": [ + "Turn right and step toward the door, then turn left and walk to the desk.", + "Pick up the baseball bat that is laying against the wall to the right of the desk.", + "Turn left and walk toward the bed, then turn right to face the desk.", + "Turn on the lamp that is on the desk." + ], + "task_desc": "Turn on the desk lamp while holding the baseball bat.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3S96KQ6I9PLKYWQXYJISI9JD523DT3", + "high_descs": [ + "Turn and ,move to stand at the right edge of the desk, which is closest to the wall with the door. ", + "Pick up the pan on the ground between the desk and wall. ", + "Carry the pan to stand on the left side of the desk, which is next to a nightstand. ", + "Turn on the lamp at the left back corner of the desk." + ], + "task_desc": "Carry a pan to turn on a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..39a7a80d846fd6fab43f36c6bf1b746115067b58 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/initial_state.pddl @@ -0,0 +1,486 @@ + +(define (problem plan_trial_T20190907_052826_959216) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_77_bar__plus_00_dot_71_bar__plus_00_dot_99 - object + BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 - object + Book_bar__minus_01_dot_73_bar__plus_00_dot_51_bar__plus_01_dot_58 - object + CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_99 - object + CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_52 - object + CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 - object + CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_01_dot_35 - object + CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_64_bar__plus_00_dot_14 - object + Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 - object + CreditCard_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_00_dot_93 - object + Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 - object + Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 - object + KeyChain_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_00_dot_21 - object + KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_29_bar__plus_01_dot_45 - object + Laptop_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_83 - object + LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 - object + Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 - object + Pencil_bar__plus_00_dot_93_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + Pencil_bar__plus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_22 - object + Pencil_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_01_dot_38 - object + Pen_bar__minus_01_dot_83_bar__plus_00_dot_65_bar__plus_00_dot_45 - object + Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 - object + Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 - object + TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 - object + TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 - object + Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 - object + Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 - object + Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 - receptacle + Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 - receptacle + GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 - receptacle + Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 - receptacle + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_5_bar_0_bar_15 - location + loc_bar_5_bar__minus_3_bar_1_bar_15 - location + loc_bar__minus_4_bar_5_bar_3_bar_60 - location + loc_bar__minus_2_bar_4_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_5_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_0_bar_30 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_6_bar__minus_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 ShelfType) + (receptacleType Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 BedType) + (receptacleType GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 GarbageCanType) + (receptacleType Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 DeskType) + (receptacleType Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 ShelfType) + (receptacleType Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 DeskType) + (objectType KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_29_bar__plus_01_dot_45 KeyChainType) + (objectType Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 MirrorType) + (objectType Pen_bar__minus_01_dot_83_bar__plus_00_dot_65_bar__plus_00_dot_45 PenType) + (objectType Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 PillowType) + (objectType CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_64_bar__plus_00_dot_14 CellPhoneType) + (objectType TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 TeddyBearType) + (objectType Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 CurtainsType) + (objectType CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_52 CDType) + (objectType Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 CurtainsType) + (objectType Book_bar__minus_01_dot_73_bar__plus_00_dot_51_bar__plus_01_dot_58 BookType) + (objectType TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 TennisRacketType) + (objectType Laptop_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_83 LaptopType) + (objectType KeyChain_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_00_dot_21 KeyChainType) + (objectType Pencil_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_01_dot_38 PencilType) + (objectType CreditCard_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_00_dot_93 CreditCardType) + (objectType BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 BasketBallType) + (objectType CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_01_dot_35 CellPhoneType) + (objectType Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 WindowType) + (objectType CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 CellPhoneType) + (objectType Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 ChairType) + (objectType CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_99 CDType) + (objectType Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 WindowType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 DeskLampType) + (objectType LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 LightSwitchType) + (objectType AlarmClock_bar__plus_01_dot_77_bar__plus_00_dot_71_bar__plus_00_dot_99 AlarmClockType) + (objectType Pencil_bar__plus_00_dot_93_bar__plus_00_dot_69_bar__minus_01_dot_62 PencilType) + (objectType Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 PillowType) + (objectType Pencil_bar__plus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_22 PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (pickupable KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_29_bar__plus_01_dot_45) + (pickupable Pen_bar__minus_01_dot_83_bar__plus_00_dot_65_bar__plus_00_dot_45) + (pickupable Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77) + (pickupable CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_64_bar__plus_00_dot_14) + (pickupable TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33) + (pickupable CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_52) + (pickupable Book_bar__minus_01_dot_73_bar__plus_00_dot_51_bar__plus_01_dot_58) + (pickupable TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65) + (pickupable Laptop_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_83) + (pickupable KeyChain_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_00_dot_21) + (pickupable Pencil_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_01_dot_38) + (pickupable CreditCard_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_00_dot_93) + (pickupable BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11) + (pickupable CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_01_dot_35) + (pickupable CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55) + (pickupable CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_99) + (pickupable AlarmClock_bar__plus_01_dot_77_bar__plus_00_dot_71_bar__plus_00_dot_99) + (pickupable Pencil_bar__plus_00_dot_93_bar__plus_00_dot_69_bar__minus_01_dot_62) + (pickupable Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55) + (pickupable Pencil_bar__plus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_22) + + + + (atLocation agent1 loc_bar_6_bar__minus_4_bar_3_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76) + + + + + (inReceptacle CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_99 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle AlarmClock_bar__plus_01_dot_77_bar__plus_00_dot_71_bar__plus_00_dot_99 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pencil_bar__plus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_22 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pen_bar__minus_01_dot_83_bar__plus_00_dot_65_bar__plus_00_dot_45 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle KeyChain_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_00_dot_21 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_01_dot_35 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_64_bar__plus_00_dot_14 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Laptop_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_83 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Pencil_bar__plus_00_dot_93_bar__plus_00_dot_69_bar__minus_01_dot_62 Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71) + (inReceptacle Book_bar__minus_01_dot_73_bar__plus_00_dot_51_bar__plus_01_dot_58 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51) + (inReceptacle CreditCard_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_00_dot_93 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19) + (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19) + (inReceptacle KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_29_bar__plus_01_dot_45 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51) + (inReceptacle Pencil_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_01_dot_38 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51) + + + (receptacleAtLocation Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_4_bar_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 loc_bar_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 loc_bar__minus_3_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation CD_bar__minus_01_dot_79_bar__plus_00_dot_07_bar__plus_01_dot_52 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_70_bar__plus_00_dot_64_bar__plus_00_dot_21 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_41_bar__plus_00_dot_72_bar__plus_00_dot_22 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_63_bar__plus_00_dot_07_bar__plus_01_dot_38 loc_bar__minus_2_bar_4_bar_3_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 loc_bar_5_bar__minus_3_bar_1_bar__minus_30) + (objectAtLocation Book_bar__minus_01_dot_73_bar__plus_00_dot_51_bar__plus_01_dot_58 loc_bar__minus_2_bar_4_bar_3_bar_45) + (objectAtLocation Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 loc_bar_2_bar_5_bar_0_bar_15) + (objectAtLocation Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation AlarmClock_bar__plus_01_dot_77_bar__plus_00_dot_71_bar__plus_00_dot_99 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 loc_bar_3_bar_0_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 loc_bar_0_bar_5_bar_0_bar_30) + (objectAtLocation TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 loc_bar_3_bar_3_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_83_bar__plus_00_dot_65_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_93_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_29_bar__plus_01_dot_45 loc_bar__minus_3_bar_5_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation CreditCard_bar__minus_01_dot_78_bar__plus_01_dot_07_bar__plus_00_dot_93 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Laptop_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_83 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_64_bar__plus_00_dot_14 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_34_bar__plus_00_dot_62_bar__minus_00_dot_55 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_99 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 loc_bar_5_bar__minus_3_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 loc_bar_2_bar__minus_5_bar_2_bar_15) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..662e794d4ed692a115364ab1dc7148a43964d710 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052826_959216/traj_data.json @@ -0,0 +1,2169 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + 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"objectName": "Pen_cc605bb7", + "position": { + "x": -1.82821357, + "y": 0.646391451, + "z": 0.44837153 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_52bd0074", + "position": { + "x": 1.40868545, + "y": 0.71506995, + "z": 0.215897 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_0e40ba2c", + "position": { + "x": -1.69595814, + "y": 0.641343653, + "z": 0.213779032 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_06e764fa", + "position": { + "x": -1.7838906, + "y": 1.07172871, + "z": 0.926043332 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Laptop_d426c140", + "position": { + "x": -0.8230911, + "y": 0.5389017, + "z": -0.830933869 + }, + "rotation": { + "x": 0.0, + "y": 2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_e08e6091", + "position": { + "x": -0.5837572, + "y": 0.541828632, + "z": -0.5490972 + }, + "rotation": { + "x": 0.0, + "y": 2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "Pillow_8dced04e", + "position": { + "x": -1.757, + "y": 0.569, + "z": -0.768 + }, + "rotation": { + "x": 0.0, + "y": 285.000122, + "z": 0.0 + } + }, + { + "objectName": "CD_b96b25c3", + "position": { + "x": -1.78781521, + "y": 0.06552129, + "z": 1.51509261 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3698821441, + "scene_num": 320 + }, + "task_id": "trial_T20190907_052826_959216", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3FTOP5WARI5WL9TYADGT1WCLD2Z0J6", + "high_descs": [ + "Turn right to find a basketball beneath the desk.", + "Pick up the basketball from the floor.", + "Turn left towards the bed, walk to the edge of the bed, and then turn left towards the lamp on your right.", + "Turn on the lamp." + ], + "task_desc": "Examine a basketball next to the light of a lamp.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3NVC2EB65TGIXQNUF0ZFDHPGTH23Y6", + "high_descs": [ + "Turn right, go straight to the desk.", + "Take the basketball from under the desk.", + "Turn left, go to the bed, turn right, go straight, when the desk is to the left turn left, go to straight to the desk.", + "Turn the lamp on the desk on." + ], + "task_desc": "Inspect a basketball near a lit lamp.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3DY4FPOOA45TCYDRLFDROGO2HFIVRX", + "high_descs": [ + "Turn around and face the end of the white table.", + "Pick the basketball up from under the table.", + "Go left to the desk next to the bed.", + "Turn the lamp on the desk on." + ], + "task_desc": "Turn a lamp on with a basketball in hand.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3JZQSN0I3TRDRBIN5PEB7Q79RHXFGL", + "high_descs": [ + "Turn right and walk slightly forward to the basketball on the floor.", + "Pick up the basketball from the floor.", + "Turn left and walk to the front of the lamp on the desk by the wall.", + "Turn on the lamp." + ], + "task_desc": "Examine a basketball by the light of a desk lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0d5bd03d4aed2c13ed3202e3d403ac0a4f5c0366 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/initial_state.pddl @@ -0,0 +1,492 @@ + +(define (problem plan_trial_T20190907_052838_203742) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_51_bar__plus_00_dot_68_bar__minus_01_dot_62 - object + BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 - object + Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_83 - object + Book_bar__minus_01_dot_79_bar__plus_00_dot_29_bar__plus_01_dot_45 - object + Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_37 - object + CD_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_06 - object + CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_22 - object + CellPhone_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_49 - object + CellPhone_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_07 - object + Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 - object + CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 - object + Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 - object + Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 - object + KeyChain_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_00_dot_17 - object + KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_51_bar__plus_01_dot_32 - object + Laptop_bar__minus_00_dot_34_bar__plus_00_dot_54_bar__minus_00_dot_97 - object + Laptop_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 - object + Laptop_bar__minus_01_dot_75_bar__plus_00_dot_67_bar__plus_01_dot_21 - object + LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 - object + Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 - object + Pencil_bar__plus_01_dot_77_bar__plus_00_dot_72_bar__plus_00_dot_41 - object + Pen_bar__plus_01_dot_23_bar__plus_00_dot_72_bar__plus_00_dot_02 - object + Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_00_dot_78 - object + Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_97 - object + TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 - object + TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 - object + Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 - object + Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 - object + Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 - receptacle + Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 - receptacle + GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 - receptacle + Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 - receptacle + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_5_bar_0_bar_15 - location + loc_bar_5_bar__minus_3_bar_1_bar_15 - location + loc_bar__minus_4_bar_5_bar_3_bar_60 - location + loc_bar__minus_2_bar_4_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_5_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_0_bar_30 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 ShelfType) + (receptacleType Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 BedType) + (receptacleType GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 GarbageCanType) + (receptacleType Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 DeskType) + (receptacleType Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 ShelfType) + (receptacleType Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 DeskType) + (objectType KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_51_bar__plus_01_dot_32 KeyChainType) + (objectType Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_37 BookType) + (objectType CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 CreditCardType) + (objectType Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 MirrorType) + (objectType Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_00_dot_78 PenType) + (objectType CD_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_06 CDType) + (objectType TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 TeddyBearType) + (objectType Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 CurtainsType) + (objectType Laptop_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 LaptopType) + (objectType Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 CurtainsType) + (objectType Laptop_bar__minus_01_dot_75_bar__plus_00_dot_67_bar__plus_01_dot_21 LaptopType) + (objectType TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 TennisRacketType) + (objectType CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_22 CellPhoneType) + (objectType CellPhone_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_07 CellPhoneType) + (objectType Laptop_bar__minus_00_dot_34_bar__plus_00_dot_54_bar__minus_00_dot_97 LaptopType) + (objectType BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 BasketBallType) + (objectType Pen_bar__plus_01_dot_23_bar__plus_00_dot_72_bar__plus_00_dot_02 PenType) + (objectType Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 ChairType) + (objectType Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 WindowType) + (objectType KeyChain_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_00_dot_17 KeyChainType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 DeskLampType) + (objectType LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 LightSwitchType) + (objectType CellPhone_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_49 CellPhoneType) + (objectType Book_bar__minus_01_dot_79_bar__plus_00_dot_29_bar__plus_01_dot_45 BookType) + (objectType AlarmClock_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_62 AlarmClockType) + (objectType Pencil_bar__plus_01_dot_77_bar__plus_00_dot_72_bar__plus_00_dot_41 PencilType) + (objectType Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_97 PillowType) + (objectType Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_83 BookType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (pickupable KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_51_bar__plus_01_dot_32) + (pickupable Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_37) + (pickupable CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60) + (pickupable Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_00_dot_78) + (pickupable CD_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_06) + (pickupable TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33) + (pickupable Laptop_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55) + (pickupable Laptop_bar__minus_01_dot_75_bar__plus_00_dot_67_bar__plus_01_dot_21) + (pickupable TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65) + (pickupable CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_22) + (pickupable CellPhone_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_07) + (pickupable Laptop_bar__minus_00_dot_34_bar__plus_00_dot_54_bar__minus_00_dot_97) + (pickupable BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11) + (pickupable Pen_bar__plus_01_dot_23_bar__plus_00_dot_72_bar__plus_00_dot_02) + (pickupable KeyChain_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_00_dot_17) + (pickupable CellPhone_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_49) + (pickupable Book_bar__minus_01_dot_79_bar__plus_00_dot_29_bar__plus_01_dot_45) + (pickupable AlarmClock_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_62) + (pickupable Pencil_bar__plus_01_dot_77_bar__plus_00_dot_72_bar__plus_00_dot_41) + (pickupable Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_97) + (pickupable Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_83) + + + + (atLocation agent1 loc_bar__minus_2_bar_1_bar_3_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76) + + + + + (inReceptacle Pen_bar__plus_01_dot_23_bar__plus_00_dot_72_bar__plus_00_dot_02 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_22 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pencil_bar__plus_01_dot_77_bar__plus_00_dot_72_bar__plus_00_dot_41 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle KeyChain_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_00_dot_17 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_37 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle CellPhone_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_49 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle Laptop_bar__minus_01_dot_75_bar__plus_00_dot_67_bar__plus_01_dot_21 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_00_dot_78 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle CD_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_06 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Laptop_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Laptop_bar__minus_00_dot_34_bar__plus_00_dot_54_bar__minus_00_dot_97 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_97 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_83 Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69) + (inReceptacle AlarmClock_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_62 Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71) + (inReceptacle KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_51_bar__plus_01_dot_32 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51) + (inReceptacle CellPhone_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_07 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19) + (inReceptacle DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19) + (inReceptacle Book_bar__minus_01_dot_79_bar__plus_00_dot_29_bar__plus_01_dot_45 Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51) + + + (receptacleAtLocation Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 loc_bar__minus_3_bar_2_bar_2_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 loc_bar__minus_4_bar_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 loc_bar_3_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 loc_bar__minus_3_bar_5_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 loc_bar__minus_2_bar_4_bar_3_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation CellPhone_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_22 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_58_bar__plus_00_dot_54_bar__minus_00_dot_55 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__minus_00_dot_17 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_23_bar__plus_00_dot_72_bar__plus_00_dot_02 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Book_bar__minus_01_dot_79_bar__plus_00_dot_29_bar__plus_01_dot_45 loc_bar__minus_3_bar_5_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_34_bar__plus_00_dot_54_bar__minus_00_dot_97 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_83 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_82_bar__plus_00_dot_67_bar__plus_01_dot_49 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 loc_bar_5_bar__minus_3_bar_1_bar__minus_30) + (objectAtLocation Book_bar__minus_01_dot_83_bar__plus_00_dot_64_bar__plus_00_dot_37 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 loc_bar_2_bar_5_bar_0_bar_15) + (objectAtLocation Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation AlarmClock_bar__plus_00_dot_51_bar__plus_00_dot_68_bar__minus_01_dot_62 loc_bar_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 loc_bar_3_bar_0_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 loc_bar_0_bar_5_bar_0_bar_30) + (objectAtLocation TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 loc_bar_3_bar_3_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_75_bar__plus_00_dot_68_bar__plus_00_dot_78 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_77_bar__plus_00_dot_72_bar__plus_00_dot_41 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_89_bar__plus_00_dot_51_bar__plus_01_dot_32 loc_bar__minus_2_bar_4_bar_3_bar_45) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_75_bar__plus_00_dot_67_bar__plus_01_dot_21 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Pillow_bar__minus_00_dot_82_bar__plus_00_dot_62_bar__minus_00_dot_97 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_63_bar__plus_00_dot_64_bar__plus_00_dot_06 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 loc_bar_5_bar__minus_3_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 loc_bar_2_bar__minus_5_bar_2_bar_15) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c551c3d2f6d906b4445bab4154ed8acaf2b86192 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052838_203742/traj_data.json @@ -0,0 +1,2658 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + 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0.618339062, + "z": -0.971852243 + }, + "rotation": { + "x": 0.0, + "y": 2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "CD_b96b25c3", + "position": { + "x": -1.62983048, + "y": 0.6408033, + "z": 0.0573840141 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 3125556250, + "scene_num": 320 + }, + "task_id": "trial_T20190907_052838_203742", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_32EYX73OY3QTZJORGP3MSUMJ31ERUV", + "high_descs": [ + "Turn around and walk across the room to the window, then turn left to face the table.", + "Take the basketball from underneath the edge of the table.", + "Turn around and walk across the room to the desk.", + "Turn on the lamp on the upper shelf of the desk. " + ], + "task_desc": "To see the basketball in the light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3CPLWGV3MRGA0T8WP7RENEUVPJC9NV", + "high_descs": [ + "Move across the room to the white desk under the bedroom window", + "pick up the basketball sitting under the desk", + "Carry the basketball and move to the wood colored desk located to the right of the bed", + "Turn on the lamp sitting on top of the desk" + ], + "task_desc": "Carry a basketball while turning on a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3IKZ72A5B7XJ13Z9STR6XAG6SHBFNX", + "high_descs": [ + "Turn around, walk to the white table, turn right, walk to the side of the table", + "Grab the basketball under the table on the floor", + "Turn left, walk to the desk by the bed", + "Turn on the lamp on the desk" + ], + "task_desc": "Grab the basketball under the desk, turn on the lamp on the table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..13008276ea85523e3317ab8d9d984fd734c1b1ec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/initial_state.pddl @@ -0,0 +1,501 @@ + +(define (problem plan_trial_T20190907_052853_431363) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_79_bar__plus_00_dot_68_bar__minus_01_dot_79 - object + AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_41 - object + BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 - object + Book_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_80 - object + Book_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_41 - object + Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_69 - object + CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 - object + CD_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_17 - object + CD_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_07 - object + CellPhone_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 - object + Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 - object + CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 - object + Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 - object + Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 - object + DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 - object + KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_29_bar__plus_01_dot_72 - object + KeyChain_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_49 - object + Laptop_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__minus_00_dot_17 - object + LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 - object + Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 - object + Pencil_bar__plus_01_dot_69_bar__plus_00_dot_05_bar__plus_01_dot_64 - object + Pencil_bar__minus_01_dot_82_bar__plus_00_dot_68_bar__plus_01_dot_64 - object + Pencil_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_35 - object + Pen_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_35 - object + Pen_bar__minus_01_dot_84_bar__plus_00_dot_07_bar__plus_01_dot_52 - object + Pen_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_49 - object + Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 - object + TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 - object + TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 - object + Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 - object + Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 - object + Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 - receptacle + Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 - receptacle + Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 - receptacle + GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 - receptacle + Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 - receptacle + Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 - receptacle + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_2_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_3_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_5_bar_0_bar_15 - location + loc_bar_5_bar__minus_3_bar_1_bar_15 - location + loc_bar__minus_4_bar_5_bar_3_bar_60 - location + loc_bar__minus_2_bar_4_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_1_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_30 - location + loc_bar__minus_3_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_5_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_3_bar_60 - location + loc_bar_0_bar_5_bar_0_bar_30 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_5_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_06_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_50_bar__plus_01_dot_51 ShelfType) + (receptacleType Bed_bar__minus_01_dot_04_bar__plus_00_dot_01_bar__minus_00_dot_69 BedType) + (receptacleType GarbageCan_bar__plus_01_dot_68_bar__plus_00_dot_00_bar__plus_01_dot_67 GarbageCanType) + (receptacleType Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11 DeskType) + (receptacleType Shelf_bar__minus_01_dot_88_bar__plus_01_dot_06_bar__plus_01_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_01_dot_73_bar__plus_00_dot_28_bar__plus_01_dot_51 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_71 ShelfType) + (receptacleType Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39 DeskType) + (objectType CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 CDType) + (objectType Pencil_bar__plus_01_dot_69_bar__plus_00_dot_05_bar__plus_01_dot_64 PencilType) + (objectType CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 CreditCardType) + (objectType Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 MirrorType) + (objectType AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_41 AlarmClockType) + (objectType Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 PillowType) + (objectType Book_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_80 BookType) + (objectType KeyChain_bar__minus_01_dot_88_bar__plus_01_dot_07_bar__plus_01_dot_49 KeyChainType) + (objectType TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 TeddyBearType) + (objectType Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 CurtainsType) + (objectType Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 CurtainsType) + (objectType TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 TennisRacketType) + (objectType CellPhone_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 CellPhoneType) + (objectType BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 BasketBallType) + (objectType Pen_bar__minus_01_dot_84_bar__plus_00_dot_07_bar__plus_01_dot_52 PenType) + (objectType Laptop_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__minus_00_dot_17 LaptopType) + (objectType Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 WindowType) + (objectType Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 ChairType) + (objectType Pen_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_49 PenType) + (objectType KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_29_bar__plus_01_dot_72 KeyChainType) + (objectType Pen_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_35 PenType) + (objectType Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 WindowType) + (objectType Pencil_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_35 PencilType) + (objectType AlarmClock_bar__plus_00_dot_79_bar__plus_00_dot_68_bar__minus_01_dot_79 AlarmClockType) + (objectType Pencil_bar__minus_01_dot_82_bar__plus_00_dot_68_bar__plus_01_dot_64 PencilType) + (objectType Book_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_41 BookType) + (objectType DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 DeskLampType) + (objectType LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 LightSwitchType) + (objectType Book_bar__minus_01_dot_30_bar__plus_00_dot_54_bar__minus_00_dot_69 BookType) + (objectType CD_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_17 CDType) + (objectType CD_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_07 CDType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain 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CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle AlarmClock_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_41 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CD_bar__plus_01_dot_68_bar__plus_00_dot_71_bar__minus_00_dot_17 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle CellPhone_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 Desk_bar__plus_01_dot_58_bar_00_dot_00_bar__plus_00_dot_39) + (inReceptacle Pencil_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_35 Desk_bar__minus_01_dot_72_bar__plus_00_dot_01_bar__plus_01_dot_11) + (inReceptacle Pen_bar__minus_01_dot_88_bar__plus_00_dot_68_bar__plus_01_dot_49 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loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_81_bar__plus_01_dot_07_bar__plus_01_dot_07 loc_bar__minus_4_bar_4_bar_3_bar_30) + (objectAtLocation Chair_bar__minus_01_dot_46_bar__plus_00_dot_00_bar__plus_00_dot_93 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Curtains_bar__plus_01_dot_87_bar__plus_02_dot_04_bar__minus_00_dot_50 loc_bar_5_bar__minus_3_bar_1_bar__minus_30) + (objectAtLocation Book_bar__minus_00_dot_82_bar__plus_00_dot_54_bar__minus_00_dot_41 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_55_bar__plus_01_dot_49_bar__plus_01_dot_88 loc_bar_2_bar_5_bar_0_bar_15) + (objectAtLocation Curtains_bar__plus_00_dot_49_bar__plus_02_dot_04_bar__minus_01_dot_85 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation AlarmClock_bar__plus_00_dot_79_bar__plus_00_dot_68_bar__minus_01_dot_79 loc_bar_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation BasketBall_bar__plus_01_dot_51_bar__plus_00_dot_12_bar__minus_00_dot_11 loc_bar_3_bar_0_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_12_bar__plus_01_dot_32_bar__plus_01_dot_85 loc_bar_0_bar_5_bar_0_bar_30) + (objectAtLocation TeddyBear_bar__minus_01_dot_70_bar__plus_00_dot_48_bar__minus_00_dot_33 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation TennisRacket_bar__plus_01_dot_55_bar__plus_00_dot_00_bar__plus_00_dot_65 loc_bar_3_bar_3_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_68_bar__plus_00_dot_68_bar__plus_01_dot_35 loc_bar__minus_4_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_69_bar__plus_00_dot_05_bar__plus_01_dot_64 loc_bar_3_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_84_bar__plus_00_dot_29_bar__plus_01_dot_72 loc_bar__minus_3_bar_5_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__minus_01_dot_85_bar__plus_01_dot_06_bar__plus_00_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation CreditCard_bar__plus_01_dot_23_bar__plus_00_dot_71_bar__plus_00_dot_60 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_32_bar__plus_00_dot_71_bar__minus_00_dot_17 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_59_bar__plus_00_dot_71_bar__plus_00_dot_22 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_76_bar__plus_00_dot_57_bar__minus_00_dot_77 loc_bar__minus_3_bar_2_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_50_bar__plus_00_dot_71_bar__plus_00_dot_60 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Window_bar__plus_01_dot_93_bar__plus_01_dot_41_bar__minus_00_dot_51 loc_bar_5_bar__minus_3_bar_1_bar_15) + (objectAtLocation Window_bar__plus_00_dot_48_bar__plus_01_dot_41_bar__minus_01_dot_93 loc_bar_2_bar__minus_5_bar_2_bar_15) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot DeskLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BasketBallType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0e7638975b1e9e82f315e9147555e5ab82d68d25 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-BasketBall-None-DeskLamp-320/trial_T20190907_052853_431363/traj_data.json @@ -0,0 +1,2244 @@ +{ + "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": 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right.", + "Pick up the basketball under the table.", + "Go to the desk in the opposite corner of the room.", + "Turn on the lamp." + ], + "task_desc": "Look at the basketball under the lamp light.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3G2UL9A02GVYFPEBBT7D77H3Z3Q76Y", + "high_descs": [ + "Turn right and stop at the white table", + "Grab the basketball that is at the bottom of the table", + "Turn left and head to the desk", + "Turn on the lamp that is on the top of the desk" + ], + "task_desc": "Turning on a lamp while holding a basketball", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e7c7535ab6936583c5c48818c57731b7d20b08f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/initial_state.pddl @@ -0,0 +1,481 @@ + +(define (problem plan_trial_T20190908_063823_792284) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 - object + Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 - object + Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 - object + 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Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 - object + ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 - receptacle + CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 - receptacle + CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 - receptacle + DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 - receptacle + GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 - receptacle + SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 - receptacle + Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 - receptacle + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_1_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_15_bar_3_bar_0_bar_30 - location + loc_bar__minus_13_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_15_bar__minus_9_bar_0_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_0_bar_60 - location + loc_bar_0_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_14_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_9_bar_1_bar_0_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 DiningTableType) + (receptacleType CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 GarbageCanType) + (receptacleType ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 SideTableType) + (receptacleType Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 SofaType) + (receptacleType CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 CoffeeTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 DrawerType) + (objectType Pen_bar__minus_03_dot_43_bar__plus_00_dot_89_bar__minus_01_dot_48 PenType) + (objectType Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 BoxType) + (objectType LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 LightSwitchType) + (objectType KeyChain_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_65 KeyChainType) + (objectType Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 WindowType) + (objectType Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__minus_00_dot_74 LaptopType) + (objectType Pen_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 PenType) + (objectType CreditCard_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_48 CreditCardType) + (objectType RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_53 RemoteControlType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 ChairType) + (objectType HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 HousePlantType) + (objectType Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 TelevisionType) + (objectType Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 PillowType) + (objectType Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 PenType) + (objectType Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 PaintingType) + (objectType Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 WindowType) + (objectType CreditCard_bar__minus_00_dot_38_bar__plus_00_dot_52_bar__plus_01_dot_02 CreditCardType) + (objectType RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_70 RemoteControlType) + (objectType CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_30_bar__minus_01_dot_95 CreditCardType) + (objectType HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 HousePlantType) + (objectType Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 StatueType) + (objectType Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 ChairType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 ChairType) + (objectType Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 LaptopType) + (objectType RemoteControl_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_01_dot_39 RemoteControlType) + (objectType Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 PlateType) + (objectType FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 FloorLampType) + (objectType Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_90 LaptopType) + (objectType Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 ChairType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 ChairType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 ChairType) + (objectType Vase_bar__minus_00_dot_03_bar__plus_00_dot_98_bar__minus_02_dot_49 VaseType) + (canContain DiningTableType PenType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain GarbageCanType PenType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + 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DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle CreditCard_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_48 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + (inReceptacle Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 loc_bar_0_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_03_dot_43_bar__plus_00_dot_89_bar__minus_01_dot_48 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_70 loc_bar_0_bar__minus_7_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_49_bar__plus_00_dot_30_bar__minus_01_dot_95 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_87_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_01_dot_39 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_48 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_90_bar__plus_00_dot_18_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_86_bar__plus_01_dot_03_bar__minus_00_dot_96 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 loc_bar__minus_12_bar__minus_1_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 loc_bar__minus_15_bar__minus_9_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 loc_bar__minus_13_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 loc_bar__minus_15_bar__minus_1_bar_2_bar_60) + (objectAtLocation Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_38_bar__plus_00_dot_52_bar__plus_01_dot_02 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_85_bar__plus_00_dot_87_bar__minus_01_dot_01 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 loc_bar_0_bar__minus_8_bar_1_bar_45) + (objectAtLocation HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 loc_bar_0_bar__minus_6_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 loc_bar__minus_9_bar_1_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_73_bar__plus_00_dot_52_bar__plus_00_dot_90 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_16_bar__plus_00_dot_45_bar__minus_02_dot_53 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_03_bar__plus_00_dot_98_bar__minus_02_dot_49 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 loc_bar__minus_15_bar__minus_1_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_24_bar__plus_00_dot_97_bar__minus_02_dot_65 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_35_bar__plus_00_dot_46_bar__minus_00_dot_58 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 loc_bar__minus_2_bar_0_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 loc_bar__minus_12_bar__minus_11_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 loc_bar__minus_15_bar_3_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BoxType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..061426f2d06aea047fdb169ef65b61f4ae62bce1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_063823_792284/traj_data.json @@ -0,0 +1,2888 @@ +{ + "images": [ + { + "high_idx": 0, + 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0.4920355, + "y": 0.304995954, + "z": -1.94988585 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_b55d9380", + "position": { + "x": -3.85148573, + "y": 0.8749851, + "z": -1.01137471 + }, + "rotation": { + "x": 359.9739, + "y": 0.00238561071, + "z": 0.244597048 + } + }, + { + "objectName": "Laptop_a8c2a636", + "position": { + "x": -1.091, + "y": 0.4522, + "z": -0.738000035 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_470b1bc7", + "position": { + "x": 0.4920355, + "y": 0.306234121, + "z": -1.69805694 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9647877c", + "position": { + "x": -0.0302466452, + "y": 0.977985144, + "z": -2.49397373 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_5e4810d7", + "position": { + "x": 0.2577918, + "y": 0.9659995, + "z": -2.5184164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_73ed151d", + "position": { + "x": -0.240229443, + "y": 0.9729727, + "z": -2.65185428 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_20f1dbb5", + "position": { + "x": -3.429, + "y": 0.887255669, + "z": -1.4839983 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2010521028, + "scene_num": 221 + }, + "task_id": "trial_T20190908_063823_792284", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A272X64FOZFYLB_3EJJQNKU9UMOUXI7GQWN9FXT9FVHRB", + "high_descs": [ + "Turn around and walk forward to the empty box on the table.", + "Pick up the box from the table.", + "Turn right and walk forward to the front of the floor lamp.", + "Turn on the lamp." + ], + "task_desc": "Examine an empty box by the light of a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3LRLIPTPETQNX6XYK0DYRHOB1SLKAK", + "high_descs": [ + "Turn around and move past the laptop on the coffee table, then turn left and face the end of the table with four chairs.", + "Pick up the cardboard box to the right of the remote control.", + "Turn right, move to the floor lamp between the door and the gray couch, then face the lamp shade.", + "Turn on the floor lamp." + ], + "task_desc": "Examine a cardboard box using the light from a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3PW9OPU9PT1WM2G8ZBE1GK9EGY112Z", + "high_descs": [ + "Turn around and go to the dining table.", + "Pick up the box from the table.", + "Turn right and go to the lamp in front of you", + "Turn on the lamp." + ], + "task_desc": "Examine the box by the lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..041a0125d30eef85876b8f182e79a9f2610f30bd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/initial_state.pddl @@ -0,0 +1,474 @@ + +(define (problem plan_trial_T20190908_132924_004380) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_35_bar__plus_00_dot_61_bar__minus_00_dot_74 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 - object + Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 - object + Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 - object + Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 - object + Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 - object + CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_86_bar__minus_02_dot_43 - object + CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_51 - object + CreditCard_bar__minus_01_dot_08_bar__plus_00_dot_52_bar__plus_00_dot_90 - object + FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 - object + HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 - object + HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 - object + KeyChain_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_43 - object + Laptop_bar__minus_00_dot_19_bar__plus_00_dot_97_bar__minus_02_dot_51 - object + LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 - object + Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 - object + Pen_bar__minus_00_dot_70_bar__plus_00_dot_46_bar__minus_00_dot_74 - object + Pen_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_00_dot_89 - object + Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 - object + Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29 - object + Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99 - object + RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_78 - object + RemoteControl_bar__plus_00_dot_75_bar__plus_00_dot_31_bar__minus_01_dot_87 - object + RemoteControl_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_29 - object + Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 - object + Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 - object + Vase_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_19 - object + Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 - object + Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 - object + ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 - receptacle + CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 - receptacle + CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 - receptacle + DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 - receptacle + GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 - receptacle + SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 - receptacle + Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 - receptacle + loc_bar_0_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_9_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_6_bar_1_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_15_bar_3_bar_0_bar_30 - location + loc_bar__minus_13_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_15_bar__minus_9_bar_0_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_15_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_0_bar_60 - location + loc_bar_0_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_12_bar__minus_1_bar_2_bar_60 - location + loc_bar__minus_12_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_5_bar__minus_6_bar_2_bar_60 - location + loc_bar_0_bar__minus_8_bar_1_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_14_bar__minus_8_bar_0_bar_60 - location + loc_bar__minus_9_bar_1_bar_0_bar_60 - location + loc_bar__minus_15_bar__minus_1_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 DiningTableType) + (receptacleType CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 CoffeeTableType) + (receptacleType GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 GarbageCanType) + (receptacleType ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 ArmChairType) + (receptacleType SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 SideTableType) + (receptacleType Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 SofaType) + (receptacleType CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 CoffeeTableType) + (receptacleType Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 DrawerType) + (objectType CreditCard_bar__minus_01_dot_08_bar__plus_00_dot_52_bar__plus_00_dot_90 CreditCardType) + (objectType LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 LightSwitchType) + (objectType Vase_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_19 VaseType) + (objectType Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 WindowType) + (objectType RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_78 RemoteControlType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 ChairType) + (objectType HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 HousePlantType) + (objectType Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 TelevisionType) + (objectType Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 PillowType) + (objectType Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99 PlateType) + (objectType RemoteControl_bar__plus_00_dot_75_bar__plus_00_dot_31_bar__minus_01_dot_87 RemoteControlType) + (objectType Box_bar__minus_01_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_74 BoxType) + (objectType Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 PaintingType) + (objectType Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 WindowType) + (objectType RemoteControl_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_29 RemoteControlType) + (objectType CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_51 CreditCardType) + (objectType HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 HousePlantType) + (objectType Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 StatueType) + (objectType Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 ChairType) + (objectType KeyChain_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_43 KeyChainType) + (objectType Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29 PlateType) + (objectType Pen_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_00_dot_89 PenType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 ChairType) + (objectType FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 FloorLampType) + (objectType Laptop_bar__minus_00_dot_19_bar__plus_00_dot_97_bar__minus_02_dot_51 LaptopType) + (objectType Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 ChairType) + (objectType CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_86_bar__minus_02_dot_43 CreditCardType) + (objectType Pen_bar__minus_00_dot_70_bar__plus_00_dot_46_bar__minus_00_dot_74 PenType) + (objectType Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 ChairType) + (objectType Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 ChairType) + (canContain DiningTableType PenType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain GarbageCanType PenType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain CoffeeTableType PenType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain DrawerType PenType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (pickupable CreditCard_bar__minus_01_dot_08_bar__plus_00_dot_52_bar__plus_00_dot_90) + (pickupable Vase_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_19) + (pickupable RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_78) + (pickupable Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67) + (pickupable Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99) + (pickupable RemoteControl_bar__plus_00_dot_75_bar__plus_00_dot_31_bar__minus_01_dot_87) + (pickupable Box_bar__minus_01_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_74) + (pickupable RemoteControl_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_29) + (pickupable CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_51) + (pickupable Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52) + (pickupable KeyChain_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_43) + (pickupable Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29) + (pickupable Pen_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_00_dot_89) + (pickupable Laptop_bar__minus_00_dot_19_bar__plus_00_dot_97_bar__minus_02_dot_51) + (pickupable CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_86_bar__minus_02_dot_43) + (pickupable Pen_bar__minus_00_dot_70_bar__plus_00_dot_46_bar__minus_00_dot_74) + (isReceptacleObject Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99) + (isReceptacleObject Box_bar__minus_01_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_74) + (isReceptacleObject Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29) + (openable Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + + (atLocation agent1 loc_bar__minus_15_bar__minus_1_bar_1_bar_30) + + (cleanable Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99) + (cleanable Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29) + + (heatable Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99) + (heatable Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29) + (coolable Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99) + (coolable Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29) + + + (toggleable FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11) + + + + + (inReceptacle Laptop_bar__minus_00_dot_19_bar__plus_00_dot_97_bar__minus_02_dot_51 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55) + (inReceptacle Pen_bar__minus_00_dot_70_bar__plus_00_dot_46_bar__minus_00_dot_74 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle Box_bar__minus_01_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_74 CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74) + (inReceptacle Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_08_bar__plus_00_dot_52_bar__plus_00_dot_90 Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96) + (inReceptacle Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78) + (inReceptacle Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Pen_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_00_dot_89 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle RemoteControl_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_29 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle Vase_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_19 DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19) + (inReceptacle CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_86_bar__minus_02_dot_43 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_51 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + (inReceptacle KeyChain_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_43 Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_66_bar__plus_00_dot_10_bar__minus_01_dot_78 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_06_bar__plus_00_dot_10_bar__minus_02_dot_47 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_09_bar__plus_00_dot_10_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_03_dot_43_bar__plus_00_dot_10_bar__minus_01_dot_19 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_03_bar__plus_00_dot_87_bar__minus_02_dot_47 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_90_bar__plus_00_dot_10_bar__minus_02_dot_98 loc_bar__minus_9_bar__minus_11_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_03_bar__plus_00_dot_10_bar__minus_02_dot_55 loc_bar_0_bar__minus_7_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_00_dot_91_bar__plus_00_dot_10_bar__plus_00_dot_96 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_02_dot_76_bar__plus_00_dot_88_bar__minus_00_dot_89 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_21_bar__plus_00_dot_88_bar__minus_01_dot_29 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_03_dot_21_bar__plus_00_dot_89_bar__minus_00_dot_99 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_13_bar__plus_00_dot_86_bar__minus_02_dot_51 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_75_bar__plus_00_dot_31_bar__minus_01_dot_87 loc_bar_0_bar__minus_7_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_86_bar__minus_02_dot_43 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Box_bar__minus_01_dot_35_bar__plus_00_dot_61_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_00_dot_88 loc_bar__minus_12_bar__minus_1_bar_2_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_02_dot_46 loc_bar_0_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_81_bar__plus_00_dot_09_bar__minus_01_dot_55 loc_bar__minus_15_bar__minus_9_bar_0_bar_60) + (objectAtLocation Chair_bar__plus_00_dot_77_bar__plus_00_dot_09_bar__minus_01_dot_15 loc_bar_0_bar__minus_6_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_07_bar__plus_00_dot_09_bar__minus_01_dot_52 loc_bar__minus_13_bar__minus_8_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_79_bar__plus_00_dot_09_bar__minus_00_dot_84 loc_bar__minus_15_bar__minus_1_bar_2_bar_60) + (objectAtLocation Television_bar__minus_01_dot_06_bar__plus_00_dot_92_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_63_bar__plus_00_dot_48_bar__minus_01_dot_67 loc_bar__minus_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_08_bar__plus_00_dot_52_bar__plus_00_dot_90 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_02_dot_99_bar__plus_00_dot_89_bar__minus_01_dot_29 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation HousePlant_bar__plus_00_dot_76_bar__plus_00_dot_84_bar__minus_02_dot_47 loc_bar_0_bar__minus_8_bar_1_bar_45) + (objectAtLocation HousePlant_bar__plus_00_dot_74_bar__plus_00_dot_84_bar__minus_01_dot_16 loc_bar_0_bar__minus_6_bar_1_bar_45) + (objectAtLocation FloorLamp_bar__minus_02_dot_19_bar__plus_00_dot_10_bar__plus_01_dot_11 loc_bar__minus_9_bar_1_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_19_bar__plus_00_dot_97_bar__minus_02_dot_51 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_49_bar__plus_00_dot_31_bar__minus_01_dot_78 loc_bar_0_bar__minus_7_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_09_bar__plus_00_dot_89_bar__minus_01_dot_19 loc_bar__minus_14_bar__minus_8_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_04_dot_33_bar__plus_01_dot_82_bar__minus_01_dot_22 loc_bar__minus_15_bar__minus_1_bar_2_bar_0) + (objectAtLocation Statue_bar__plus_00_dot_26_bar__plus_00_dot_97_bar__minus_02_dot_52 loc_bar_0_bar__minus_7_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_22_bar__plus_00_dot_86_bar__minus_02_dot_43 loc_bar__minus_1_bar__minus_6_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_70_bar__plus_00_dot_46_bar__minus_00_dot_74 loc_bar__minus_5_bar__minus_7_bar_0_bar_60) + (objectAtLocation Window_bar__plus_00_dot_01_bar__plus_01_dot_09_bar__plus_00_dot_00 loc_bar__minus_2_bar_0_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_98_bar__plus_01_dot_55_bar__minus_03_dot_22 loc_bar__minus_12_bar__minus_11_bar_2_bar_30) + (objectAtLocation LightSwitch_bar__minus_03_dot_91_bar__plus_01_dot_37_bar__plus_01_dot_39 loc_bar__minus_15_bar_3_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o BoxType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a2db0e87078e27f354041fd6dc9f55f2c24cc14e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Box-None-FloorLamp-221/trial_T20190908_132924_004380/traj_data.json @@ -0,0 +1,2819 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"z": -1.667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_e1ea86ca", + "position": { + "x": -0.126070291, + "y": 0.8615307, + "z": -2.50671315 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_b55d9380", + "position": { + "x": -3.20709324, + "y": 0.8885691, + "z": -0.9922278 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a8c2a636", + "position": { + "x": -0.193, + "y": 0.966, + "z": -2.505 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_470b1bc7", + "position": { + "x": -3.20709324, + "y": 0.8800341, + "z": -1.2872901 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_9647877c", + "position": { + "x": -4.09472, + "y": 0.8867624, + "z": -1.188936 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_5e4810d7", + "position": { + "x": 0.2577918, + "y": 0.9659995, + "z": -2.5184164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_73ed151d", + "position": { + "x": -0.221140474, + "y": 0.8607059, + "z": -2.433173 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_20f1dbb5", + "position": { + "x": -2.76328, + "y": 0.8844528, + "z": -0.8938737 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2011778649, + "scene_num": 221 + }, + "task_id": "trial_T20190908_132924_004380", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3A0VPWPASCO9J_34S6N1K2ZY0DRZNUB6ZRN3OU3OILH3", + "high_descs": [ + "Go across the room to the coffee table.", + "Pick up the box on the coffee table.", + "Go to the lamp to the right of the door.", + "Turn on the lamp." + ], + "task_desc": "Inspect a box in the light of the floor lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3DBQWDE4Y9FRZ66KMHEXBYPT3AQN5P", + "high_descs": [ + "walk over to the shortest side of the coffee table", + "pick up the empty box from the coffee table", + "take the box over to the lamp next to the door", + "turn on the lamp " + ], + "task_desc": "take a box from the coffee table to the lamp by the door and turn it on", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_35BLDD71I9E2EPZIVW74AJQ1QCVZVK", + "high_descs": [ + "Move straight back then right facing the white coffee table where the empty box is on top of the table", + "Pick up the empty box on the coffee table", + "Carry the box and turn around and head to the large floor lamp", + "Turn on the lamp" + ], + "task_desc": "Carry an empty box to the lamp", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e32154da443ebbc558b636e501dbeb8846646bec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/initial_state.pddl @@ -0,0 +1,658 @@ + +(define (problem plan_trial_T20190909_060050_754328) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_18 - object + Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 - object + Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object + Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26 - object + Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object + CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_36 - object + CellPhone_bar__plus_00_dot_62_bar__plus_00_dot_36_bar__plus_02_dot_61 - object + CellPhone_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_88 - object + Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 - object + Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 - object + Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 - object + Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 - object + Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 - object + Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 - object + CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_36 - object + CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_03_dot_03 - object + FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 - object + HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + KeyChain_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_32 - object + KeyChain_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_26 - object + Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 - object + Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_09 - object + LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object + Newspaper_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_45 - object + Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 - object + Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 - object + Pencil_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__plus_02_dot_48 - object + Pencil_bar__minus_00_dot_93_bar__plus_00_dot_88_bar__plus_00_dot_18 - object + Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object + Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 - object + RemoteControl_bar__plus_00_dot_59_bar__plus_00_dot_36_bar__plus_02_dot_22 - object + Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object + TissueBox_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + Vase_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_30 - object + Watch_bar__minus_00_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_30 - object + Watch_bar__minus_04_dot_30_bar__plus_00_dot_75_bar__minus_00_dot_01 - object + WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 - object + Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 - object + Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 - object + ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 - receptacle + CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 - receptacle + DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle + Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 - receptacle + GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 - receptacle + Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 - receptacle + SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 - receptacle + Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 - receptacle + loc_bar__minus_13_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_5_bar_3_bar_2_bar_60 - location + loc_bar_4_bar_7_bar_0_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar_60 - location + loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_10_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_0_bar_45 - location + loc_bar_4_bar_15_bar_0_bar_0 - location + loc_bar_2_bar_25_bar_2_bar_60 - location + loc_bar_4_bar_10_bar_3_bar_60 - location + loc_bar_4_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_3_bar_60 - location + loc_bar__minus_24_bar_9_bar_0_bar_60 - location + loc_bar__minus_17_bar__minus_5_bar_2_bar_0 - location + loc_bar__minus_2_bar_5_bar_0_bar_45 - location + loc_bar__minus_3_bar_4_bar_0_bar_45 - location + loc_bar__minus_24_bar_5_bar_3_bar_15 - location + loc_bar_4_bar_15_bar_2_bar_45 - location + loc_bar_2_bar_25_bar_1_bar_60 - location + loc_bar__minus_2_bar_4_bar_2_bar_45 - location + loc_bar__minus_13_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_21_bar_1_bar_1_bar_60 - location + loc_bar__minus_16_bar_3_bar_2_bar_60 - location + loc_bar_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_24_bar_5_bar_3_bar_60 - location + loc_bar__minus_17_bar__minus_5_bar_0_bar_60 - location + loc_bar_0_bar_4_bar_1_bar__minus_15 - location + loc_bar__minus_18_bar__minus_6_bar_0_bar_60 - location + loc_bar__minus_22_bar__minus_2_bar_1_bar_60 - location + loc_bar_4_bar_12_bar_0_bar_45 - location + loc_bar__minus_13_bar_20_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType) + (receptacleType ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 ArmChairType) + (receptacleType Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 SofaType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType) + (receptacleType CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 CoffeeTableType) + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 SideTableType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 DrawerType) + (receptacleType Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 OttomanType) + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType) + (receptacleType GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 GarbageCanType) + (receptacleType DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType) + (objectType Watch_bar__minus_00_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_30 WatchType) + (objectType WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType) + (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_03_dot_03 CreditCardType) + (objectType KeyChain_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_32 KeyChainType) + (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType) + (objectType Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 PlateType) + (objectType LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 LightSwitchType) + (objectType Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 ChairType) + (objectType Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 ChairType) + (objectType CellPhone_bar__plus_00_dot_62_bar__plus_00_dot_36_bar__plus_02_dot_61 CellPhoneType) + (objectType RemoteControl_bar__plus_00_dot_59_bar__plus_00_dot_36_bar__plus_02_dot_22 RemoteControlType) + (objectType CellPhone_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_88 CellPhoneType) + (objectType CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_36 CellPhoneType) + (objectType Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50 BowlType) + (objectType Newspaper_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_45 NewspaperType) + (objectType Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 LaptopType) + (objectType CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_36 CreditCardType) + (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType) + (objectType TissueBox_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 TissueBoxType) + (objectType Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 BookType) + (objectType Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 PaintingType) + (objectType Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 PaintingType) + (objectType Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_09 LaptopType) + (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType) + (objectType Book_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_18 BookType) + (objectType Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26 BowlType) + (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType) + (objectType TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_50 TissueBoxType) + (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType) + (objectType Watch_bar__minus_04_dot_30_bar__plus_00_dot_75_bar__minus_00_dot_01 WatchType) + (objectType Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType) + (objectType Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 ChairType) + (objectType Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 WindowType) + (objectType Pencil_bar__minus_00_dot_93_bar__plus_00_dot_88_bar__plus_00_dot_18 PencilType) + (objectType Vase_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_30 VaseType) + (objectType Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType) + (objectType KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_15 KeyChainType) + (objectType Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 BootsType) + (objectType Pencil_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__plus_02_dot_48 PencilType) + (objectType Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType) + (objectType KeyChain_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_26 KeyChainType) + (objectType Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 BoxType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BowlType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType BookType) + (canContain OttomanType CellPhoneType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType NewspaperType) + (canContain OttomanType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BowlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (pickupable Watch_bar__minus_00_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_30) + (pickupable WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19) + (pickupable CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_03_dot_03) + (pickupable KeyChain_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_32) + (pickupable Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (pickupable CellPhone_bar__plus_00_dot_62_bar__plus_00_dot_36_bar__plus_02_dot_61) + (pickupable RemoteControl_bar__plus_00_dot_59_bar__plus_00_dot_36_bar__plus_02_dot_22) + (pickupable CellPhone_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_88) + (pickupable CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_36) + (pickupable Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50) + (pickupable Newspaper_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_45) + (pickupable Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83) + (pickupable CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_36) + (pickupable TissueBox_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (pickupable Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03) + (pickupable Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_09) + (pickupable Book_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_18) + (pickupable Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26) + (pickupable TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_50) + (pickupable Watch_bar__minus_04_dot_30_bar__plus_00_dot_75_bar__minus_00_dot_01) + (pickupable Pencil_bar__minus_00_dot_93_bar__plus_00_dot_88_bar__plus_00_dot_18) + (pickupable Vase_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_30) + (pickupable KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25) + (pickupable Pencil_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__plus_02_dot_48) + (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16) + (pickupable KeyChain_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_26) + (pickupable Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19) + (isReceptacleObject Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (isReceptacleObject Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50) + (isReceptacleObject Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26) + (isReceptacleObject Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61) + (openable Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24) + (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61) + + (atLocation agent1 loc_bar__minus_13_bar_20_bar_2_bar_30) + + (cleanable Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (cleanable Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50) + (cleanable Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26) + + (heatable Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (coolable Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63) + (coolable Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50) + (coolable Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26) + + + (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81) + + + + + (inReceptacle Watch_bar__minus_00_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_30 Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24) + (inReceptacle TissueBox_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Watch_bar__minus_04_dot_30_bar__plus_00_dot_75_bar__minus_00_dot_01 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Plate_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_63 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle KeyChain_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_26 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_09 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle KeyChain_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_32 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Pencil_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__plus_02_dot_48 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61) + (inReceptacle CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_36 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle CellPhone_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_88 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_36 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle RemoteControl_bar__plus_00_dot_59_bar__plus_00_dot_36_bar__plus_02_dot_22 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61) + (inReceptacle CellPhone_bar__plus_00_dot_62_bar__plus_00_dot_36_bar__plus_02_dot_61 Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61) + (inReceptacle HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle Book_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_18 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle Pencil_bar__minus_00_dot_93_bar__plus_00_dot_88_bar__plus_00_dot_18 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_15 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Newspaper_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_45 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Vase_bar__plus_00_dot_41_bar__plus_00_dot_55_bar__plus_02_dot_30 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 loc_bar_2_bar_25_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 loc_bar__minus_3_bar_4_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 loc_bar__minus_2_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 loc_bar__minus_2_bar_6_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 loc_bar_4_bar_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 loc_bar_4_bar_7_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 loc_bar_4_bar_15_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 loc_bar__minus_24_bar_9_bar_0_bar_60) + (receptacleAtLocation Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_bar_45) + (receptacleAtLocation SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 loc_bar__minus_5_bar_3_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_62_bar__plus_00_dot_36_bar__plus_02_dot_61 loc_bar_4_bar_15_bar_2_bar_45) + (objectAtLocation Watch_bar__minus_00_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_30 loc_bar__minus_2_bar_4_bar_2_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_23_bar__plus_00_dot_36_bar__plus_02_dot_48 loc_bar__minus_2_bar_6_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_05_dot_36 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Bowl_bar__minus_03_dot_75_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Book_bar__minus_01_dot_24_bar__plus_00_dot_88_bar__plus_00_dot_18 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_32_bar__plus_00_dot_43_bar__plus_05_dot_36 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_03_dot_93_bar__plus_00_dot_76_bar__minus_00_dot_26 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 loc_bar__minus_13_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 loc_bar__minus_13_bar__minus_3_bar_0_bar_60) + (objectAtLocation Book_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 loc_bar__minus_18_bar__minus_6_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 loc_bar__minus_21_bar_1_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 loc_bar__minus_16_bar_3_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 loc_bar_2_bar_25_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 loc_bar__minus_22_bar__minus_2_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 loc_bar_0_bar_4_bar_1_bar__minus_15) + (objectAtLocation Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_26 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 loc_bar__minus_1_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 loc_bar_4_bar_10_bar_1_bar_0) + (objectAtLocation Newspaper_bar__plus_00_dot_23_bar__plus_00_dot_56_bar__plus_02_dot_45 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_45_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 loc_bar_3_bar_26_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_32 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 loc_bar__minus_24_bar_5_bar_3_bar_15) + (objectAtLocation Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 loc_bar__minus_24_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_93_bar__plus_00_dot_88_bar__plus_00_dot_18 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_09 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation 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+ + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o KeyChainType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2fefcf00cce2ad9623bdb1c1fde5109eed0039f5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060050_754328/traj_data.json @@ -0,0 +1,4124 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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2.21685863 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_d1050b3a", + "position": { + "x": -0.842288256, + "y": 0.7700443, + "z": 0.30251044 + }, + "rotation": { + "x": 0.0, + "y": 179.999832, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_ce678283", + "position": { + "x": 0.618304551, + "y": 0.357666284, + "z": 2.605 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_5aac382d", + "position": { + "x": -4.842067, + "y": 0.7583246, + "z": -0.626199365 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 3208309864, + "scene_num": 203 + }, + "task_id": "trial_T20190909_060050_754328", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3KB8R4ZV1HYVZJS5WVHWPM0Q6J6BGX", + "high_descs": [ + "Turn to the left and then right. Turn left and left to face the coffee table.", + "Pick up the keys from the short side of the coffee table.", + "Carry the keys and turn left and right to move past the coffee table. Turn right behind the chair to find the lamp in the corner.", + "Hold the keys and turn on the lamp." + ], + "task_desc": "Locate keys and turn on the lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3QY5DC2MXUB4HI5GL2S9CRS2UPDUFY", + "high_descs": [ + "walk through living room to face coffee table", + "pick up set of keys from table", + "walk around couch to face floor lamp", + "turn on floor lamp" + ], + "task_desc": "turn on floor lamp while holding set of keys", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3W2LOLRXLE6NHC5DIJO1NTXNVMPKRL", + "high_descs": [ + "Turn left and walk around the inside of the couch to the side of the coffee table closest to the fireplace.", + "Pick up the keys.", + "Walk left around the coffee table and blue chair, then veer right to the corner.", + "Turn on the lamp." + ], + "task_desc": "Look at a set of keys by the light of a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060210_354107/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060210_354107/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d192fef0fb4de0e22ac2bdc1e0974af2d7f903fc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-KeyChain-None-FloorLamp-203/trial_T20190909_060210_354107/initial_state.pddl @@ -0,0 +1,654 @@ + +(define (problem plan_trial_T20190909_060210_354107) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_01_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_27 - object + Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 - object + Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45 - object + Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 - object + CellPhone_bar__minus_04_dot_84_bar__plus_00_dot_75_bar__minus_00_dot_38 - object + Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 - object + Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 - object + Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 - object + Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 - object + Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 - object + Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 - object + CreditCard_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_76 - object + CreditCard_bar__minus_03_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_26 - object + FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 - object + HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_45 - object + KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_79 - object + KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_45_bar__plus_02_dot_32 - object + Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 - object + LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 - object + Newspaper_bar__plus_00_dot_42_bar__plus_00_dot_42_bar__plus_04_dot_30 - object + Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 - object + Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 - object + Pencil_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_01 - object + Pencil_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 - object + Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 - object + Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 - object + Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 - object + RemoteControl_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 - object + Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 - object + TissueBox_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_75 - object + Vase_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_15 - object + Vase_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + Vase_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + Watch_bar__plus_00_dot_19_bar__plus_00_dot_36_bar__plus_02_dot_35 - object + Watch_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_28 - object + WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 - object + Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 - object + Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 - object + ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 - receptacle + CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 - receptacle + DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 - receptacle + Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 - receptacle + Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 - receptacle + GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 - receptacle + Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 - receptacle + SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 - receptacle + Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 - receptacle + loc_bar__minus_13_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_5_bar_3_bar_2_bar_60 - location + loc_bar_4_bar_7_bar_0_bar_60 - location + loc_bar__minus_2_bar_10_bar_1_bar_60 - location + loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15 - location + loc_bar__minus_1_bar_10_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_0_bar_45 - location + loc_bar_4_bar_15_bar_0_bar_0 - location + loc_bar_2_bar_25_bar_2_bar_60 - location + loc_bar_4_bar_10_bar_3_bar_60 - location + loc_bar_4_bar_10_bar_1_bar_0 - location + loc_bar__minus_1_bar_2_bar_3_bar_60 - location + loc_bar__minus_24_bar_9_bar_0_bar_60 - location + loc_bar__minus_17_bar__minus_5_bar_2_bar_0 - location + loc_bar__minus_2_bar_5_bar_0_bar_45 - location + loc_bar__minus_3_bar_4_bar_0_bar_45 - location + loc_bar__minus_24_bar_5_bar_3_bar_15 - location + loc_bar_4_bar_15_bar_2_bar_45 - location + loc_bar_2_bar_25_bar_1_bar_60 - location + loc_bar__minus_2_bar_4_bar_2_bar_45 - location + loc_bar__minus_13_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_21_bar_1_bar_1_bar_60 - location + loc_bar__minus_16_bar_3_bar_2_bar_60 - location + loc_bar_3_bar_26_bar_1_bar_60 - location + loc_bar__minus_24_bar_5_bar_3_bar_60 - location + loc_bar__minus_17_bar__minus_5_bar_0_bar_60 - location + loc_bar_0_bar_4_bar_1_bar__minus_15 - location + loc_bar__minus_18_bar__minus_6_bar_0_bar_60 - location + loc_bar__minus_22_bar__minus_2_bar_1_bar_60 - location + loc_bar_4_bar_12_bar_0_bar_45 - location + loc_bar__minus_15_bar_22_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType) + (receptacleType ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 ArmChairType) + (receptacleType Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 SofaType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType) + (receptacleType CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 CoffeeTableType) + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 SideTableType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 DrawerType) + (receptacleType Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 OttomanType) + (receptacleType Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 DrawerType) + (receptacleType GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 GarbageCanType) + (receptacleType DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 DrawerType) + (objectType WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 WateringCanType) + (objectType KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_45_bar__plus_02_dot_32 KeyChainType) + (objectType Watch_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_28 WatchType) + (objectType Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 PlateType) + (objectType CreditCard_bar__minus_03_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_26 CreditCardType) + (objectType HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 HousePlantType) + (objectType LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 LightSwitchType) + (objectType Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 ChairType) + (objectType Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 ChairType) + (objectType KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_79 KeyChainType) + (objectType Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 BoxType) + (objectType Vase_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 VaseType) + (objectType Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 LaptopType) + (objectType CellPhone_bar__minus_04_dot_84_bar__plus_00_dot_75_bar__minus_00_dot_38 CellPhoneType) + (objectType RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 RemoteControlType) + (objectType Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45 BowlType) + (objectType RemoteControl_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 RemoteControlType) + (objectType FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 FloorLampType) + (objectType Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 PaintingType) + (objectType CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_76 CreditCardType) + (objectType Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 PaintingType) + (objectType Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 WindowType) + (objectType Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 TelevisionType) + (objectType Newspaper_bar__plus_00_dot_42_bar__plus_00_dot_42_bar__plus_04_dot_30 NewspaperType) + (objectType Book_bar__minus_01_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_27 BookType) + (objectType Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 ChairType) + (objectType Watch_bar__plus_00_dot_19_bar__plus_00_dot_36_bar__plus_02_dot_35 WatchType) + (objectType CreditCard_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 CreditCardType) + (objectType Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType) + (objectType Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 ChairType) + (objectType Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 WindowType) + (objectType KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_45 KeyChainType) + (objectType Pencil_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 PencilType) + (objectType Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 PlateType) + (objectType Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 ChairType) + (objectType Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 BootsType) + (objectType Pencil_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_01 PencilType) + (objectType Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 PillowType) + (objectType TissueBox_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_75 TissueBoxType) + (objectType Vase_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_15 VaseType) + (objectType Vase_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_38 VaseType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType NewspaperType) + (canContain SofaType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType BowlType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PencilType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType NewspaperType) + (canContain SideTableType BowlType) + (canContain SideTableType VaseType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType PlateType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain OttomanType BoxType) + (canContain OttomanType LaptopType) + (canContain OttomanType BookType) + (canContain OttomanType CellPhoneType) + (canContain OttomanType PillowType) + (canContain OttomanType RemoteControlType) + (canContain OttomanType KeyChainType) + (canContain OttomanType NewspaperType) + (canContain OttomanType CreditCardType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (canContain GarbageCanType NewspaperType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain DiningTableType BookType) + (canContain DiningTableType WatchType) + (canContain DiningTableType NewspaperType) + (canContain DiningTableType BowlType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType PlateType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType WateringCanType) + (canContain DrawerType BookType) + (canContain DrawerType WatchType) + (canContain DrawerType NewspaperType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType WateringCanType) + (pickupable WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19) + (pickupable KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_45_bar__plus_02_dot_32) + (pickupable Watch_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_28) + (pickupable Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (pickupable CreditCard_bar__minus_03_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_26) + (pickupable KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_79) + (pickupable Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19) + (pickupable Vase_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38) + (pickupable Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83) + (pickupable CellPhone_bar__minus_04_dot_84_bar__plus_00_dot_75_bar__minus_00_dot_38) + (pickupable RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32) + (pickupable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45) + (pickupable RemoteControl_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03) + (pickupable CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_76) + (pickupable Newspaper_bar__plus_00_dot_42_bar__plus_00_dot_42_bar__plus_04_dot_30) + (pickupable Book_bar__minus_01_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_27) + (pickupable Watch_bar__plus_00_dot_19_bar__plus_00_dot_36_bar__plus_02_dot_35) + (pickupable CreditCard_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_45) + (pickupable Pencil_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75) + (pickupable Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08) + (pickupable Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25) + (pickupable Pencil_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_01) + (pickupable Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16) + (pickupable TissueBox_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_75) + (pickupable Vase_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_15) + (pickupable Vase_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_38) + (isReceptacleObject Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (isReceptacleObject Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19) + (isReceptacleObject Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45) + (isReceptacleObject Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61) + (openable Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24) + (openable Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61) + (openable Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61) + + (atLocation agent1 loc_bar__minus_15_bar_22_bar_3_bar_30) + + (cleanable Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (cleanable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45) + (cleanable Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08) + + (heatable Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (heatable Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08) + (coolable Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50) + (coolable Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45) + (coolable Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08) + + + (toggleable FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81) + + + + + (inReceptacle Watch_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_28 Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24) + (inReceptacle Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle CreditCard_bar__minus_03_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_26 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Vase_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Pencil_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Pencil_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_01 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle CellPhone_bar__minus_04_dot_84_bar__plus_00_dot_75_bar__minus_00_dot_38 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle TissueBox_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_75 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle Vase_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_38 DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38) + (inReceptacle KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_45_bar__plus_02_dot_32 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Book_bar__minus_01_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_27 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle RemoteControl_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56) + (inReceptacle Newspaper_bar__plus_00_dot_42_bar__plus_00_dot_42_bar__plus_04_dot_30 Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31) + (inReceptacle Watch_bar__plus_00_dot_19_bar__plus_00_dot_36_bar__plus_02_dot_35 Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61) + (inReceptacle Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_79 ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13) + (inReceptacle HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16) + (inReceptacle CreditCard_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_76 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_45 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Vase_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_15 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + (inReceptacle Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45 CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_42_bar_00_dot_00_bar__plus_05_dot_13 loc_bar_2_bar_25_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__plus_00_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_61 loc_bar__minus_2_bar_10_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_04_dot_30_bar__plus_00_dot_01_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_07_bar__plus_02_dot_61 loc_bar__minus_3_bar_4_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_23_bar__plus_02_dot_61 loc_bar__minus_2_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_21_bar__plus_00_dot_39_bar__plus_02_dot_61 loc_bar__minus_2_bar_6_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_07_bar__plus_02_dot_61 loc_bar_4_bar_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_23_bar__plus_02_dot_61 loc_bar_4_bar_7_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_60_bar__plus_00_dot_39_bar__plus_02_dot_61 loc_bar_4_bar_15_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_24 loc_bar__minus_2_bar_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_06_dot_13_bar__plus_00_dot_01_bar__plus_02_dot_80 loc_bar__minus_24_bar_9_bar_0_bar_60) + (receptacleAtLocation Ottoman_bar__plus_00_dot_49_bar__plus_00_dot_00_bar__plus_04_dot_31 loc_bar_4_bar_12_bar_0_bar_45) + (receptacleAtLocation SideTable_bar__minus_01_dot_03_bar__plus_00_dot_01_bar__plus_00_dot_16 loc_bar__minus_5_bar_3_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_53_bar__plus_00_dot_02_bar__plus_02_dot_56 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Plate_bar__minus_04_dot_04_bar__plus_00_dot_75_bar__minus_00_dot_08 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Watch_bar__plus_00_dot_19_bar__plus_00_dot_36_bar__plus_02_dot_35 loc_bar__minus_2_bar_6_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_44_bar__plus_00_dot_45_bar__plus_02_dot_32 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Vase_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_04_dot_84_bar__plus_00_dot_76_bar__minus_00_dot_75 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_43_bar__plus_04_dot_79 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_76 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_93_bar__plus_00_dot_75_bar__minus_00_dot_26 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_55_bar__plus_02_dot_45 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_48_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_90_bar__plus_00_dot_02_bar__minus_00_dot_83 loc_bar__minus_13_bar__minus_3_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_03_dot_43_bar__plus_00_dot_02_bar__minus_00_dot_32 loc_bar__minus_13_bar__minus_3_bar_0_bar_60) + (objectAtLocation Book_bar__minus_01_dot_09_bar__plus_00_dot_46_bar__plus_03_dot_27 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_04_dot_57_bar__plus_00_dot_02_bar__minus_00_dot_83 loc_bar__minus_18_bar__minus_6_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_66_bar__plus_00_dot_02_bar__plus_00_dot_16 loc_bar__minus_21_bar_1_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_00_bar__plus_00_dot_02_bar__plus_00_dot_09 loc_bar__minus_16_bar_3_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_06_dot_50_bar__plus_01_dot_76_bar__minus_00_dot_34 loc_bar__minus_24_bar__minus_1_bar_3_bar__minus_15) + (objectAtLocation Box_bar__plus_00_dot_96_bar__plus_00_dot_29_bar__plus_06_dot_19 loc_bar_2_bar_25_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_04_dot_99_bar__plus_00_dot_02_bar__minus_00_dot_41 loc_bar__minus_22_bar__minus_2_bar_1_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_70_bar__plus_01_dot_78_bar__plus_00_dot_78 loc_bar_0_bar_4_bar_1_bar__minus_15) + (objectAtLocation Pillow_bar__plus_00_dot_44_bar__plus_00_dot_58_bar__plus_05_dot_16 loc_bar_2_bar_25_bar_2_bar_60) + (objectAtLocation Bowl_bar__plus_00_dot_58_bar__plus_00_dot_55_bar__plus_02_dot_45 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation WateringCan_bar__minus_00_dot_82_bar__plus_00_dot_01_bar__plus_00_dot_19 loc_bar__minus_1_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_75 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Television_bar__plus_01_dot_50_bar__plus_01_dot_69_bar__plus_02_dot_56 loc_bar_4_bar_10_bar_1_bar_0) + (objectAtLocation Newspaper_bar__plus_00_dot_42_bar__plus_00_dot_42_bar__plus_04_dot_30 loc_bar_4_bar_12_bar_0_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_23_bar__plus_00_dot_55_bar__plus_02_dot_15 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation FloorLamp_bar__plus_01_dot_11_bar__plus_00_dot_01_bar__plus_06_dot_81 loc_bar_3_bar_26_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_32_bar__plus_00_dot_45_bar__plus_02_dot_32 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_06_dot_50_bar__plus_01_dot_50_bar__plus_01_dot_35 loc_bar__minus_24_bar_5_bar_3_bar_15) + (objectAtLocation Boots_bar__minus_06_dot_31_bar__plus_00_dot_01_bar__plus_01_dot_25 loc_bar__minus_24_bar_5_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_01 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_38_bar__plus_00_dot_54_bar__plus_02_dot_83 loc_bar__minus_2_bar_10_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_66_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_55_bar__plus_00_dot_45_bar__plus_03_dot_03 loc_bar__minus_1_bar_10_bar_3_bar_45) + (objectAtLocation Watch_bar__minus_01_dot_22_bar__plus_00_dot_77_bar__plus_00_dot_28 loc_bar__minus_2_bar_4_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_04_dot_84_bar__plus_00_dot_75_bar__minus_00_dot_38 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_04_dot_11_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_17_bar__minus_5_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_5_bar_3_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_50_bar__plus_01_dot_71_bar__plus_04_dot_46 loc_bar_4_bar_15_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_21_bar__plus_01_dot_58_bar__minus_01_dot_98 loc_bar__minus_17_bar__minus_5_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o KeyChainType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ 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"trial_T20190909_060210_354107", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2Z43TA0WZ0EG0_31Z0PCVWUN6C2CBL3E4NJ3TJDNU7TN", + "high_descs": [ + "Turn left and head towards The blue chair in front of the blue ottoman with the newspaper on top of it.", + "Pick up the keys from the cushion of the blue chair.", + "Turn left and then right to go behind the blue chair towards the tall lamp.", + "Turn the tall lamp on next to the box." + ], + "task_desc": "Pick up the keys and then turn the lamp on behind the blue chair.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_36DSNE9QZ8PP9F7F867LSJS55ABJOI", + "high_descs": [ + "Turn around and walk into the living room, turning left again to face the arm chair and ottoman", + "Pick up the keys from the arm chair", + "Turn left and walk around behind the arm chair to the floor lamp", + "Turn on the floor lamp" + ], + "task_desc": "Examine the keys under the light of the floor lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_388U7OUMFASL4MY9EQEJ49IEHOR0R3", + "high_descs": [ + "turn to the left and at the staircase turn to the left and move forward to the chair with the ottoman in front of it, move around the chair to face the ottoman that is in front of the chair", + "pick up the set of keys that is sitting on the chair", + "turn to the left and go around to the back of the chair to the tall lamp in the corner", + "turn on the lamp" + ], + "task_desc": "examine a set of keys by the light of the tall lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..9f0bd697478d16730b40a39ceac3e0d7317a05d0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: examine the pillow with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_234437_155393)\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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_21_bar__plus_00_dot_41_bar__minus_01_dot_66 - object\n Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 - object\n Book_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - 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_54_bar__plus_00_dot_04_bar__minus_01_dot_98 - object\n CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 - object\n CellPhone_bar__plus_01_dot_39_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_40_bar__plus_00_dot_61_bar__minus_01_dot_83 - object\n CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 - 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_97_bar__minus_01_dot_71 - object\n KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 - object\n KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 - object\n Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 - 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_31_bar__plus_00_dot_22_bar__minus_01_dot_77 - object\n Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 - object\n Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object\n Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60 - object\n Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 - 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_6_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_5_bar_5_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType)\n (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType)\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 Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType)\n (objectType KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 KeyChainType)\n (objectType Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 PenType)\n (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_09 CellPhoneType)\n (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 LaptopType)\n (objectType 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Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23)\n (pickupable KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46)\n (pickupable CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_09)\n (pickupable Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25)\n (pickupable Book_bar__plus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_66)\n (pickupable CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93)\n (pickupable Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77)\n (pickupable CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54)\n (pickupable CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable Book_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71)\n (pickupable CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98)\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 KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60)\n (pickupable Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74)\n (pickupable Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60)\n (pickupable CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_61_bar__minus_01_dot_83)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\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_5_bar_5_bar_0_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 CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_61_bar__minus_01_dot_83 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_46 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle Book_bar__minus_00_dot_40_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_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 KeyChain_bar__plus_00_dot_40_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 CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__minus_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 CD_bar__minus_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 Book_bar__plus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74)\n (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (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)\n (inReceptacle Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_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_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 (inReceptacle CellPhone_bar__plus_01_dot_39_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 \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_22_bar__minus_01_dot_60 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (objectAtLocation KeyChain_bar__minus_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 Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_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 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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\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_39_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_40_bar__plus_00_dot_61_bar__minus_01_dot_83 loc_bar_0_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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_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_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 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_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..630c0a9f8babd5bb2d84a01d0600523f22c0333d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/initial_state.pddl @@ -0,0 +1,628 @@ + +(define (problem plan_trial_T20190908_234437_155393) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_21_bar__plus_00_dot_41_bar__minus_01_dot_66 - object + Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 - object + Book_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - 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_54_bar__plus_00_dot_04_bar__minus_01_dot_98 - object + CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + CellPhone_bar__plus_01_dot_39_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_40_bar__plus_00_dot_61_bar__minus_01_dot_83 - object + CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 - 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_97_bar__minus_01_dot_71 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 - object + KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 - object + Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 - 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_31_bar__plus_00_dot_22_bar__minus_01_dot_77 - object + Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 - object + Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object + Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60 - object + Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 - 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_6_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_5_bar_5_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType) + (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType) + (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 Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType) + (objectType KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 KeyChainType) + (objectType Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 PenType) + (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_09 CellPhoneType) + (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 LaptopType) + (objectType Book_bar__plus_00_dot_21_bar__plus_00_dot_41_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 CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 CreditCardType) + (objectType Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77 PencilType) + (objectType CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 CDType) + (objectType CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 CDType) + (objectType Book_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 BookType) + (objectType Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 PencilType) + (objectType CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 CDType) + (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 KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 KeyChainType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 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 Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 PencilType) + (objectType Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60 PenType) + (objectType CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_61_bar__minus_01_dot_83 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) + (canContain SafeType 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CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Book_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71) + (pickupable Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71) + (pickupable CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98) + (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 KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60) + (pickupable Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74) + (pickupable Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60) + (pickupable CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_61_bar__minus_01_dot_83) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (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_5_bar_5_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_40_bar__plus_00_dot_61_bar__minus_01_dot_83 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle CD_bar__minus_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_46 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle Book_bar__minus_00_dot_40_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_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 KeyChain_bar__plus_00_dot_40_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 CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle KeyChain_bar__minus_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 CD_bar__minus_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 Book_bar__plus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74) + (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 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 Laptop_bar__plus_01_dot_15_bar__plus_00_dot_41_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_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) + (inReceptacle CellPhone_bar__plus_01_dot_39_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) + + + (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_22_bar__minus_01_dot_60 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_6_bar__minus_6_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_02_dot_18_bar__plus_00_dot_06_bar__minus_01_dot_74 loc_bar__minus_5_bar__minus_4_bar_3_bar_60) + (objectAtLocation Book_bar__plus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45) + (objectAtLocation Book_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar_0_bar__minus_2_bar_2_bar_30) + (objectAtLocation KeyChain_bar__minus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_39_bar__plus_00_dot_80_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pen_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_46 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60) + (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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (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_39_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_00_dot_31_bar__plus_00_dot_22_bar__minus_01_dot_77 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_40_bar__plus_00_dot_61_bar__minus_01_dot_83 loc_bar_0_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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_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_01_dot_15_bar__plus_00_dot_41_bar__minus_00_dot_25 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_00_dot_67_bar__plus_00_dot_80_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234437_155393/traj_data.json 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"Laptop_bee5e5d1", + "position": { + "x": 1.14513469, + "y": 0.413577348, + "z": -0.247097731 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_51f16c0b", + "position": { + "x": -1.751, + "y": 0.252, + "z": 1.499 + }, + "rotation": { + "x": 0.0, + "y": 340.7735, + "z": 0.0 + } + }, + { + "objectName": "Book_8adb6f5d", + "position": { + "x": 0.213454515, + "y": 0.412114173, + "z": -1.65669918 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_7589300a", + "position": { + "x": -1.14602613, + "y": 0.0009266287, + "z": -2.1236167 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_8db1c8ee", + "position": { + "x": 1.39272177, + "y": 0.418882281, + "z": 0.08600003 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_bc72faf8", + "position": { + "x": -2.180457, + "y": 0.0582625, + "z": -1.739577 + }, + "rotation": { + "x": 0.0, + "y": 77.6645, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_a8c106d5", + "position": { + "x": 2.153, + "y": 0.5656477, + "z": 1.23 + }, + "rotation": { + "x": 0.000274186255, + "y": 213.033173, + "z": -0.000150592648 + } + }, + { + "objectName": "TeddyBear_e7a40edf", + "position": { + "x": -2.236, + "y": 0.0009266287, + "z": 1.457 + }, + "rotation": { + "x": 0.0, + "y": 319.128448, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_03461c18", + "position": { + "x": 0.60403496, + "y": 0.970796, + "z": -1.92633343 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_de3ac205", + "position": { + "x": 1.59701216, + "y": 0.04132751, + "z": -2.1844492 + }, + "rotation": { + "x": 0.0, + "y": 88.07522, + "z": 0.0 + } + }, + { + "objectName": "Pillow_8c4a91fb", + "position": { + "x": 2.11, + "y": 0.4223, + "z": 0.331 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pillow_3722a8eb", + "position": { + "x": 2.15, + "y": 0.433, + "z": -0.241 + }, + "rotation": { + "x": 0.0, + "y": 282.078857, + "z": 0.0 + } + }, + { + "objectName": "Laptop_bee5e5d1", + "position": { + "x": 0.897547364, + "y": 0.413577348, + "z": 0.419097781 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8fde142b", + "position": { + "x": 0.471582562, + "y": 0.965303957, + "z": -1.85630941 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_4184daa6", + "position": { + "x": -1.28804266, + "y": 0.0009266287, + "z": -1.93654728 + }, + "rotation": { + "x": 0.186394244, + "y": 357.341461, + "z": 356.93692 + } + }, + { + "objectName": "CD_4560e1b8", + "position": { + "x": 1.536604, + "y": 0.0400984623, + "z": -1.977314 + }, + "rotation": { + "x": 0.0, + "y": 88.07522, + "z": 0.0 + } + }, + { + "objectName": "Pen_f62f2df7", + "position": { + "x": 0.398420572, + "y": 0.22354953, + "z": -1.600204 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 2240531552, + "scene_num": 317 + }, + "task_id": "trial_T20190908_234437_155393", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_3EO896NRAZM5M7CN4NTKMTYS4EWJT0", + "high_descs": [ + "Turn around, walk past the dresser, and stand next to the bed.", + "Pick up the white pillow closest to the edge of the bed.", + "Walk around the bed to the nightstand on the other side of it.", + "Turn on the lamp on the nightstand." + ], + "task_desc": "Look at a pillow under the lamp on the nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3KB8R4ZV1HYVZJS5WVHWPM0Q6FJBG2", + "high_descs": [ + "Turn around and walk toward the window, then turn left and walk up to the side of the bed", + "Pick up the nearest pillow from the bed", + "Turn left and walk all the way around to the opposite side of the bed where the side table is", + "Turn on the lamp on the side table" + ], + "task_desc": "Examine the pillow under the light of the lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A32W24TWSWXW_3T3IWE1XG9EM8UG0ZDDTJUAEI9OQTY", + "high_descs": [ + "Turn around and walk over to the headboard of the bed. ", + "Pick up the pillow closest to you.", + "Turn left and and walk around the bed to the other side and over to the nightstand to the left of the bed.", + "While still holding the pillow, turn on the lamp that's sitting on the nightstand." + ], + "task_desc": "While carrying a pillow around the bed, turn on the lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..90ead5636727689ac866bc5eaab2caa803f95db0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: look at pillow under the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_234505_182882)\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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25 - 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_54_bar__plus_00_dot_04_bar__minus_01_dot_98 - object\n CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 - object\n CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25 - object\n CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 - 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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 - 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_64_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_56 - object\n Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 - object\n Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 - object\n Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 - object\n Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 - 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_6_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_2_bar_1_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 CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 CreditCardType)\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 CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 CellPhoneType)\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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 PencilType)\n (objectType CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 CellPhoneType)\n (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType)\n (objectType Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 PencilType)\n (objectType Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56 PencilType)\n (objectType Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 CDType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 PenType)\n (objectType KeyChain_bar__plus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_92 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 CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25 CellPhoneType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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 CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24)\n (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\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 CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66)\n (pickupable CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23)\n (pickupable Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77)\n (pickupable Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56)\n (pickupable Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66)\n (pickupable KeyChain_bar__plus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_92)\n (pickupable CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93)\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_3_bar_2_bar_1_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 Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_00_dot_40_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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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 CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pen_bar__plus_00_dot_60_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 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 CellPhone_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 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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle KeyChain_bar__plus_01_dot_64_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_15_bar__plus_00_dot_42_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_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_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)\n (inReceptacle Book_bar__plus_01_dot_39_bar__plus_00_dot_42_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_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__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_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 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_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_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_90_bar__plus_00_dot_42_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 loc_bar_5_bar_4_bar_1_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_01_dot_64_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__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__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_6_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4f6e1ece7fade152e18461c4f6fdace9c0f38c36 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/initial_state.pddl @@ -0,0 +1,598 @@ + +(define (problem plan_trial_T20190908_234505_182882) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25 - 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_54_bar__plus_00_dot_04_bar__minus_01_dot_98 - object + CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25 - object + CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 - 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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_01_dot_64_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_56 - object + Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 - object + Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 - object + Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 - object + Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 - 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_6_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_2_bar_1_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 CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 CreditCardType) + (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 CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 CellPhoneType) + (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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 PencilType) + (objectType CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63 CellPhoneType) + (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType) + (objectType Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 PencilType) + (objectType Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56 PencilType) + (objectType Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 CDType) + (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType) + (objectType Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 PenType) + (objectType KeyChain_bar__plus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_92 KeyChainType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType) + (objectType CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25 CellPhoneType) + (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType) + (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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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) + (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 Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24) + (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 CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66) + (pickupable CellPhone_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23) + (pickupable Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_25) + (pickupable Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77) + (pickupable Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56) + (pickupable Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable CD_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98) + (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (pickupable Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66) + (pickupable KeyChain_bar__plus_01_dot_64_bar__plus_00_dot_04_bar__minus_01_dot_92) + (pickupable CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__plus_00_dot_25) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93) + (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_3_bar_2_bar_1_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 Pencil_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__plus_00_dot_40_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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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 CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_24 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pen_bar__plus_00_dot_60_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 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_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 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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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_56 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle KeyChain_bar__plus_01_dot_64_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_15_bar__plus_00_dot_42_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle CellPhone_bar__plus_00_dot_90_bar__plus_00_dot_42_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_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 Book_bar__plus_01_dot_39_bar__plus_00_dot_42_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_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 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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__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (objectAtLocation Pencil_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_00_dot_40_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pen_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) 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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__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_6_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_93 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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234505_182882/traj_data.json 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"Pillow_8c4a91fb", + "position": { + "x": 2.11, + "y": 0.4223, + "z": 0.331 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Pillow_3722a8eb", + "position": { + "x": 2.15, + "y": 0.433, + "z": -0.241 + }, + "rotation": { + "x": 0.0, + "y": 282.078857, + "z": 0.0 + } + }, + { + "objectName": "Laptop_bee5e5d1", + "position": { + "x": -0.5, + "y": 0.965303957, + "z": -1.715 + }, + "rotation": { + "x": 0.0, + "y": 24.1564865, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8fde142b", + "position": { + "x": 0.471582562, + "y": 0.965303957, + "z": -1.85630941 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_4184daa6", + "position": { + "x": -1.28804266, + "y": 0.0009266287, + "z": -1.93654728 + }, + "rotation": { + "x": 0.186394244, + "y": 357.341461, + "z": 356.93692 + } + }, + { + "objectName": "CD_4560e1b8", + "position": { + "x": 1.536604, + "y": 0.0400984623, + "z": -1.977314 + }, + "rotation": { + "x": 0.0, + "y": 88.07522, + "z": 0.0 + } + }, + { + "objectName": "Pen_f62f2df7", + "position": { + "x": -0.4876745, + "y": 0.8062553, + "z": -1.6554203 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "DeskLamp" + } + ], + "random_seed": 1443579271, + "scene_num": 317 + }, + "task_id": "trial_T20190908_234505_182882", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_33LKR6A5KHBYRQWJEYNEIT26AYST14", + "high_descs": [ + "Move around to the right side of the bed, to the pillow on the right.", + "Pick up the right pillow on the bed. ", + "Bring the pillow around to the left side of the bed, to the lamp on the table left of the bed. ", + "Turn on the lamp." + ], + "task_desc": "Examine a pillow by the light of the lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3GU1KF0O4LS1CWL4ZE7JJVEI770BP2", + "high_descs": [ + "Turn right and walk to the brown dresser then then turn left and walk to the mirror, then turn left and face the bed", + "Pick up the pillow that is on the bed closest to you", + "Turn left and walk to the end of the bed, then make a right and then another right to go around the bed. Walk to the night stand to the left of the bed", + "Turn on the lamp that is sitting on the night stand to the left of the bed" + ], + "task_desc": "Examine a pillow under a lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3MX2NQ3YCCL4WP6MKVQNAM0TZALX59", + "high_descs": [ + "go to right side of bed", + "pick up pillow on right side of bed", + "go around bed to left bedside table with lamp", + "turn on lamp on bedside table" + ], + "task_desc": "pick up right pillow, turn on lamp ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/game.tw-pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6eb354e604ec4e9462794b8dad2d40f49f83c0f1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: examine the pillow with the desklamp.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_234536_917488)\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_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_61_bar__minus_01_dot_66 - object\n Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 - object\n Bowl_bar__minus_00_dot_60_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_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 - object\n CD_bar__plus_01_dot_65_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_71 - object\n CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 - object\n CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object\n CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object\n CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 - object\n CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 - 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_60_bar__plus_00_dot_04_bar__minus_02_dot_18 - object\n Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_09 - 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_60_bar__plus_00_dot_98_bar__minus_01_dot_85 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object\n Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 - object\n Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 - object\n Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 - 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_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_5_bar__minus_5_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 CellPhoneType)\n (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType)\n (objectType Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType)\n (objectType CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType)\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 Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 BookType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 PenType)\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__plus_00_dot_09 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 CellPhoneType)\n (objectType CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 CreditCardType)\n (objectType CD_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 CDType)\n (objectType CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType)\n (objectType Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 BookType)\n (objectType Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 CDType)\n (objectType Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 CreditCardType)\n (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType)\n (objectType AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 AlarmClockType)\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_70_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85 PencilType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03)\n (pickupable KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18)\n (pickupable Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable CD_bar__minus_00_dot_20_bar__plus_00_dot_97_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 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TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (isReceptacleObject Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\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_5_bar__minus_5_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 Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n \n \n (coolable Bowl_bar__minus_00_dot_60_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 Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__plus_02_dot_30_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 CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CreditCard_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__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle AlarmClock_bar__minus_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__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CellPhone_bar__minus_00_dot_20_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__minus_00_dot_60_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 Pencil_bar__plus_00_dot_60_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 CD_bar__minus_00_dot_20_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 Pen_bar__minus_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 CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle CellPhone_bar__plus_01_dot_70_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_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_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)\n (inReceptacle Pillow_bar__plus_01_dot_64_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 Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 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__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_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 CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 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__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 loc_bar__minus_4_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_54_bar__plus_00_dot_04_bar__minus_02_dot_03 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__minus_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 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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 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_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 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__plus_00_dot_09 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__minus_00_dot_60_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_65_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 PillowType)\n (holds ?a ?o)\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 1", "go to sidetable 1", "use desklamp 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..07a6f58d2aaac13cc4b0cd522f0ef7382560ba56 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/initial_state.pddl @@ -0,0 +1,618 @@ + +(define (problem plan_trial_T20190908_234536_917488) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_61_bar__minus_01_dot_66 - object + Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 - object + Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 - object + Bowl_bar__minus_00_dot_60_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_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 - object + CD_bar__plus_01_dot_65_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_71 - object + CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 - object + CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 - object + CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 - object + CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 - object + Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_09 - 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_60_bar__plus_00_dot_98_bar__minus_01_dot_85 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object + Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 - object + Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 - object + Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 - 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_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_5_bar__minus_5_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 CellPhoneType) + (objectType KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType) + (objectType Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType) + (objectType CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType) + (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 Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 BookType) + (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType) + (objectType Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 PenType) + (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__plus_00_dot_09 LaptopType) + (objectType CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 CellPhoneType) + (objectType CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 CreditCardType) + (objectType CD_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_08 CDType) + (objectType CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType) + (objectType Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 BookType) + (objectType Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 PenType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 CDType) + (objectType Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 CreditCardType) + (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType) + (objectType AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 AlarmClockType) + (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType) + (objectType CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85 PencilType) + (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) + (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 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Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25) + (pickupable CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + (pickupable CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08) + (pickupable Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (isReceptacleObject Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85) + (isReceptacleObject Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (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_5_bar__minus_5_bar_2_bar_30) + + (cleanable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (cleanable Bowl_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_85) + (cleanable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + + + (coolable Bowl_bar__minus_00_dot_60_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 Book_bar__minus_00_dot_58_bar__plus_00_dot_04_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__plus_02_dot_30_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 CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle CreditCard_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__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_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__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CellPhone_bar__minus_00_dot_20_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__minus_00_dot_60_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 Pencil_bar__plus_00_dot_60_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 CD_bar__minus_00_dot_20_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 Pen_bar__minus_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 CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle KeyChain_bar__plus_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle CellPhone_bar__plus_01_dot_70_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_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_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_01_dot_64_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 Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 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__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_30_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__plus_00_dot_58_bar__plus_00_dot_61_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45) + (objectAtLocation Book_bar__plus_00_dot_90_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_35 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60) + (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_04_bar__minus_01_dot_66 loc_bar__minus_4_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_54_bar__plus_00_dot_04_bar__minus_02_dot_03 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_60_bar__plus_00_dot_98_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 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_40_bar__plus_00_dot_97_bar__minus_01_dot_56 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_01_dot_60_bar__plus_00_dot_04_bar__minus_02_dot_18 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_64_bar__plus_00_dot_48_bar__plus_00_dot_25 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__plus_00_dot_09 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__minus_00_dot_60_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_65_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_7_bar__minus_6_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 PillowType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ac39e22f74bc01474312b585e4796bed51f0dc84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Pillow-None-DeskLamp-317/trial_T20190908_234536_917488/traj_data.json @@ -0,0 +1,2998 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 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", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_37ZHEEHM6ZD73VDROZYW1QPLJLY73H", + "high_descs": [ + "Turn left and walk forward across the room to the pillows on the bed.", + "Pick up the pillow which is closest to the wall.", + "Turn left and walk past the bed, then turn right and walk across the room to the wall, then turn right and walk to the lamp on the night stand.", + "Turn on the lamp." + ], + "task_desc": "Examine a pillow by the light of a lamp on a night stand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3NS0A6KXC7ZRHHVL29XZB47TXIBGZJ", + "high_descs": [ + "Turn left and cross the room to the mirror on the other side of the room, then turn left and face the bed", + "Pick up the white pillow that is sitting on the bed closest to you", + "Turn left and walk to the end of the bed, take a right at the end of the bed, then another right to go around the bed. Walk to the night stand that is sitting to the left of the bed", + "Turn on the lamp that is sitting on the lamp" + ], + "task_desc": "Examine a pillow under a 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-Statue-None-FloorLamp-202/trial_T20190907_162308_552825/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162308_552825/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d6b6af5efa60ead9c97b4a72dde5820ce54b9cea --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162308_552825/initial_state.pddl @@ -0,0 +1,430 @@ + +(define (problem plan_trial_T20190907_162308_552825) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_18 - object + Book_bar__minus_02_dot_82_bar__plus_00_dot_57_bar__plus_00_dot_57 - object + Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52 - object + CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 - object + CreditCard_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_29 - object + Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object + FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object + HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object + KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_24_bar__plus_00_dot_59 - object + KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_12 - object + KeyChain_bar__minus_03_dot_20_bar__plus_00_dot_56_bar__plus_00_dot_66 - object + Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_74 - object + Laptop_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_76 - object + Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 - object + LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object + Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object + Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object + Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object + RemoteControl_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_42 - object + RemoteControl_bar__plus_00_dot_88_bar__plus_00_dot_72_bar__plus_00_dot_18 - object + RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_47 - object + Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_76 - object + Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object + Watch_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 - object + Watch_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_65 - object + Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 - object + Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object + ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle + GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle + SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle + TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle + loc_bar__minus_1_bar_14_bar_0_bar_15 - location + loc_bar__minus_5_bar_7_bar_2_bar_45 - location + loc_bar__minus_12_bar_15_bar_0_bar_0 - location + loc_bar_2_bar_15_bar_3_bar_60 - location + loc_bar__minus_12_bar_6_bar_2_bar_45 - location + loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_0_bar_60 - location + loc_bar__minus_14_bar_14_bar_0_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_30 - location + loc_bar_3_bar_6_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_2_bar_60 - location + loc_bar__minus_6_bar_5_bar_0_bar_60 - location + loc_bar_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType) + (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType) + (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType) + (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType) + (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType) + (objectType KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_12 KeyChainType) + (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 WatchType) + (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType) + (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType) + (objectType Watch_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 WatchType) + (objectType RemoteControl_bar__plus_00_dot_88_bar__plus_00_dot_72_bar__plus_00_dot_18 RemoteControlType) + (objectType RemoteControl_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_42 RemoteControlType) + (objectType CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 CreditCardType) + (objectType Book_bar__minus_02_dot_82_bar__plus_00_dot_57_bar__plus_00_dot_57 BookType) + (objectType RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_47 RemoteControlType) + (objectType KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_24_bar__plus_00_dot_59 KeyChainType) + (objectType KeyChain_bar__minus_03_dot_20_bar__plus_00_dot_56_bar__plus_00_dot_66 KeyChainType) + (objectType Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52 BoxType) + (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType) + (objectType CreditCard_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_29 CreditCardType) + (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType) + (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType) + (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType) + (objectType Watch_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_65 WatchType) + (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType) + (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType) + (objectType Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_74 LaptopType) + (objectType Laptop_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_76 LaptopType) + (objectType Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_76 StatueType) + (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType) + (objectType Book_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_18 BookType) + (objectType Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 LaptopType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_12) + (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28) + (pickupable Watch_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54) + (pickupable RemoteControl_bar__plus_00_dot_88_bar__plus_00_dot_72_bar__plus_00_dot_18) + (pickupable RemoteControl_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_42) + (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65) + (pickupable Book_bar__minus_02_dot_82_bar__plus_00_dot_57_bar__plus_00_dot_57) + (pickupable RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_47) + (pickupable KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_24_bar__plus_00_dot_59) + (pickupable KeyChain_bar__minus_03_dot_20_bar__plus_00_dot_56_bar__plus_00_dot_66) + (pickupable Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52) + (pickupable CreditCard_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_29) + (pickupable Watch_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_65) + (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43) + (pickupable Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_74) + (pickupable Laptop_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_76) + (pickupable Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_76) + (pickupable Book_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_18) + (pickupable Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65) + (isReceptacleObject Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52) + + + (atLocation agent1 loc_bar__minus_4_bar_5_bar_1_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01) + + + + + (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Watch_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_65 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Watch_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Laptop_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle CreditCard_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_29 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle Book_bar__minus_02_dot_82_bar__plus_00_dot_57_bar__plus_00_dot_57 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_12 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_47 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_74 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Book_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_18 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle RemoteControl_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_42 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle RemoteControl_bar__plus_00_dot_88_bar__plus_00_dot_72_bar__plus_00_dot_18 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + + + (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45) + (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_65 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation RemoteControl_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_42 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_63_bar__plus_00_dot_24_bar__plus_00_dot_59 loc_bar_3_bar_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_74 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation Book_bar__plus_00_dot_50_bar__plus_00_dot_72_bar__plus_00_dot_18 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_50_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_47 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_20_bar__plus_00_dot_56_bar__plus_00_dot_66 loc_bar__minus_12_bar_5_bar_2_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_65 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0) + (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30) + (objectAtLocation Book_bar__minus_02_dot_82_bar__plus_00_dot_57_bar__plus_00_dot_57 loc_bar__minus_12_bar_6_bar_2_bar_45) + (objectAtLocation Box_bar__minus_01_dot_59_bar__plus_00_dot_64_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15) + (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_60_bar__plus_00_dot_54_bar__plus_00_dot_65 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_12 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_05_bar__plus_00_dot_72_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_88_bar__plus_00_dot_72_bar__plus_00_dot_18 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar__minus_12_bar_6_bar_2_bar_45) + (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_28 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o StatueType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162308_552825/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162308_552825/traj_data.json new file mode 100644 index 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the figurine by the light", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3Z3ZLGNNSLB9OOW8OQIL0VMEUGJ3QH", + "high_descs": [ + "Move to the desk to the left of the trash bin", + "Pick up the black statue that is on top of the wood desk", + "Carry the statue to the lamp in the far corner of the room", + "Turn on the lamp" + ], + "task_desc": "Carry a statue while turning on a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f34635a6a87d7bcc8e00e0a1ff1388d84f0aebba --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/initial_state.pddl @@ -0,0 +1,415 @@ + +(define (problem plan_trial_T20190907_162319_309721) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 - object + Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 - object + CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_29 - object + CreditCard_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 - object + CreditCard_bar__minus_02_dot_95_bar__plus_00_dot_56_bar__plus_00_dot_75 - object + Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object + FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object + HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object + KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_47 - object + KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_56_bar__plus_00_dot_29 - object + Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_56 - object + Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 - object + LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object + Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object + Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object + Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object + Pillow_bar__minus_02_dot_95_bar__plus_00_dot_65_bar__plus_00_dot_66 - object + RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_26 - object + Statue_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_52 - object + Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object + Watch_bar__plus_00_dot_63_bar__plus_00_dot_71_bar__plus_00_dot_58 - object + Watch_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 - object + Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 - object + Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object + ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle + GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle + SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle + TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle + loc_bar__minus_1_bar_14_bar_0_bar_15 - location + loc_bar__minus_5_bar_7_bar_2_bar_45 - location + loc_bar__minus_12_bar_15_bar_0_bar_0 - location + loc_bar_2_bar_15_bar_3_bar_60 - location + loc_bar__minus_12_bar_6_bar_2_bar_45 - location + loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_0_bar_60 - location + loc_bar__minus_14_bar_14_bar_0_bar_60 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_5_bar_2_bar_60 - location + loc_bar_3_bar_6_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_30 - location + loc_bar__minus_6_bar_5_bar_0_bar_60 - location + loc_bar_1_bar_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType) + (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType) + (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType) + (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType) + (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType) + (objectType CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_29 CreditCardType) + (objectType Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 BoxType) + (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType) + (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType) + (objectType KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_47 KeyChainType) + (objectType Watch_bar__plus_00_dot_63_bar__plus_00_dot_71_bar__plus_00_dot_58 WatchType) + (objectType Watch_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 WatchType) + (objectType Pillow_bar__minus_02_dot_95_bar__plus_00_dot_65_bar__plus_00_dot_66 PillowType) + (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType) + (objectType KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_56_bar__plus_00_dot_29 KeyChainType) + (objectType CreditCard_bar__minus_02_dot_95_bar__plus_00_dot_56_bar__plus_00_dot_75 CreditCardType) + (objectType RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_26 RemoteControlType) + (objectType Statue_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_52 StatueType) + (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType) + (objectType CreditCard_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 CreditCardType) + (objectType Book_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 BookType) + (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType) + (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType) + (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType) + (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType) + (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType) + (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 WatchType) + (objectType Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 LaptopType) + (objectType Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_56 LaptopType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_29) + (pickupable Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49) + (pickupable KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_47) + (pickupable Watch_bar__plus_00_dot_63_bar__plus_00_dot_71_bar__plus_00_dot_58) + (pickupable Watch_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20) + (pickupable Pillow_bar__minus_02_dot_95_bar__plus_00_dot_65_bar__plus_00_dot_66) + (pickupable KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_56_bar__plus_00_dot_29) + (pickupable CreditCard_bar__minus_02_dot_95_bar__plus_00_dot_56_bar__plus_00_dot_75) + (pickupable RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_26) + (pickupable Statue_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_52) + (pickupable CreditCard_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76) + (pickupable Book_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76) + (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43) + (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52) + (pickupable Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52) + (pickupable Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_56) + (isReceptacleObject Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49) + + + (atLocation agent1 loc_bar_1_bar_10_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01) + + + + + (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Book_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle CreditCard_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle CreditCard_bar__minus_02_dot_95_bar__plus_00_dot_56_bar__plus_00_dot_75 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle Pillow_bar__minus_02_dot_95_bar__plus_00_dot_65_bar__plus_00_dot_66 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle Statue_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Watch_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_29 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_56 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_26 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Watch_bar__plus_00_dot_63_bar__plus_00_dot_71_bar__plus_00_dot_58 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + + + (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45) + (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_46_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_35_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_85_bar__plus_00_dot_55_bar__plus_00_dot_47 loc_bar__minus_7_bar_5_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_71_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_10_bar__plus_00_dot_55_bar__plus_00_dot_29 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation Watch_bar__plus_00_dot_63_bar__plus_00_dot_71_bar__plus_00_dot_58 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0) + (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30) + (objectAtLocation Book_bar__minus_01_dot_05_bar__plus_00_dot_71_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15) + (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_10_bar__plus_00_dot_54_bar__plus_00_dot_56 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_33_bar__plus_00_dot_56_bar__plus_00_dot_29 loc_bar__minus_12_bar_5_bar_2_bar_45) + (objectAtLocation Pillow_bar__minus_02_dot_95_bar__plus_00_dot_65_bar__plus_00_dot_66 loc_bar__minus_12_bar_6_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_34_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_63_bar__plus_00_dot_72_bar__plus_00_dot_26 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_95_bar__plus_00_dot_56_bar__plus_00_dot_75 loc_bar__minus_12_bar_6_bar_2_bar_45) + (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o StatueType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d0375e133fd8ebd06ebfc4af7dbbd7a0078825a7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162319_309721/traj_data.json @@ -0,0 +1,3469 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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+ ], + [ + 57754, + 7 + ] + ], + "point": [ + 178, + 96 + ] + } + }, + "high_idx": 3 + } + ] + }, + "scene": { + "dirty_and_empty": false, + "floor_plan": "FloorPlan202", + "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 180, + "x": 0.25, + "y": 0.9010459, + "z": 2.5 + }, + "object_poses": [ + { + "objectName": "Watch_4c46810f", + "position": { + "x": -1.96676135, + "y": 0.448272645, + "z": 2.52143216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_4c46810f", + "position": { + "x": 0.627, + "y": 0.7142726, + "z": 0.583401561 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_2197d4a8", + "position": { + "x": -3.3253808, + "y": 0.5644003, + "z": 0.2889186 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a4a44225", + "position": { + "x": -2.94980955, + "y": 0.563560545, + "z": 0.7544929 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a4a44225", + "position": { + "x": -1.10168529, + "y": 0.54604274, + "z": 0.291722417 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_617abc68", + "position": { + "x": -2.94980955, + "y": 0.653139651, + "z": 0.661378 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_76ac64dc", + "position": { + "x": -1.10168529, + "y": 0.5440468, + "z": 0.5608895 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_5cd72af5", + "position": { + "x": -1.05040824, + "y": 0.7086996, + "z": 3.759139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_08dfd057", + "position": { + "x": 0.332, + "y": 0.892, + "z": 0.488 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_76ac64dc", + "position": { + "x": -1.71406972, + "y": 0.44600004, + "z": 2.52143216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_2197d4a8", + "position": { + "x": -1.85218859, + "y": 0.5468825, + "z": 0.471167117 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_617abc68", + "position": { + "x": -0.506, + "y": 0.664, + "z": 0.431 + }, + "rotation": { + "x": 36.2882767, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_a36dc426", + "position": { + "x": -1.33503222, + "y": 0.45388782, + "z": 2.52143216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_e89cdb06", + "position": { + "x": 0.627, + "y": 0.71920836, + "z": 0.258866131 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a4a44225", + "position": { + "x": -1.34960651, + "y": 0.706995964, + "z": 3.759139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Watch_4c46810f", + "position": { + "x": -1.4613781, + "y": 0.448272645, + "z": 2.200568 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 404807018, + "scene_num": 202 + }, + "task_id": "trial_T20190907_162319_309721", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F51C49T9A34D_3HHRAGRYXBMSIE88QMRR23U0F6LO9J", + "high_descs": [ + "turn to the right and go forward to the coffee table", + "pick up the small stature of a man from the coffee table", + "turn to the right and go a few steps forward and turn to the left and go to the wall and turn to the right and face the floor lamp", + "turn on the floor lamp" + ], + "task_desc": "Examine a small statue of a man by the light of a floor lamp", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3TPWUS5F8CI2LLODTSSSLN8UOTRWCO", + "high_descs": [ + "Go right and face the table with a computer on it.", + "Pick the statue up from the table.", + "Go right and then left and cross the room to face the lamp on the right.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on with a statue in hand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3TXD01ZLD7YMYDMT5D79K1B9B0EU4P", + "high_descs": [ + "Turn to your right walk straight towards the table", + "Pick up the figurine beside the laptop on the table", + "Turn to your right, turn left then walk toward the wall, then face the lamp", + "Turn on the lamp" + ], + "task_desc": "Examine the figurine by the light", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162331_635747/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162331_635747/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6a381e313a5fc74c16cd636285e030cb6f0b5f71 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162331_635747/initial_state.pddl @@ -0,0 +1,426 @@ + +(define (problem plan_trial_T20190907_162331_635747) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_42 - object + Book_bar__minus_01_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_56 - object + Book_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 - object + Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 - object + Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36 - object + CreditCard_bar__minus_01_dot_95_bar__plus_00_dot_71_bar__plus_03_dot_98 - object + Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 - object + FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 - object + HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 - object + KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 - object + KeyChain_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_87 - object + KeyChain_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 - object + Laptop_bar__minus_03_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_58 - object + LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 - object + Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 - object + Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 - object + Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 - object + RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_87 - object + RemoteControl_bar__minus_01_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 - object + RemoteControl_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_20 - object + Statue_bar__minus_01_dot_35_bar__plus_00_dot_72_bar__plus_03_dot_87 - object + Statue_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__plus_03_dot_76 - object + Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 - object + Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 - object + Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 - object + Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 - object + ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 - receptacle + GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 - receptacle + SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 - receptacle + Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 - receptacle + TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 - receptacle + loc_bar__minus_1_bar_14_bar_0_bar_15 - location + loc_bar__minus_5_bar_7_bar_2_bar_45 - location + loc_bar__minus_12_bar_15_bar_0_bar_0 - location + loc_bar_2_bar_15_bar_3_bar_60 - location + loc_bar__minus_12_bar_6_bar_2_bar_45 - location + loc_bar__minus_12_bar_6_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_5_bar_2_bar_0 - location + loc_bar__minus_6_bar_12_bar_0_bar_60 - location + loc_bar__minus_14_bar_14_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_2_bar_60 - location + loc_bar__minus_12_bar_5_bar_3_bar_30 - location + loc_bar__minus_6_bar_5_bar_0_bar_60 - location + loc_bar__minus_11_bar_5_bar_2_bar_60 - location + loc_bar__minus_1_bar_13_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 GarbageCanType) + (receptacleType CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 CoffeeTableType) + (receptacleType Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 SofaType) + (receptacleType SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 SideTableType) + (receptacleType ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 ArmChairType) + (receptacleType TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 TVStandType) + (objectType Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 BoxType) + (objectType RemoteControl_bar__minus_01_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 RemoteControlType) + (objectType Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TelevisionType) + (objectType Laptop_bar__minus_03_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_58 LaptopType) + (objectType FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 FloorLampType) + (objectType KeyChain_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_87 KeyChainType) + (objectType KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 KeyChainType) + (objectType Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 WatchType) + (objectType Statue_bar__minus_01_dot_35_bar__plus_00_dot_72_bar__plus_03_dot_87 StatueType) + (objectType Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_42 BookType) + (objectType Book_bar__minus_01_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_56 BookType) + (objectType Book_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 BookType) + (objectType Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 WatchType) + (objectType Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 CurtainsType) + (objectType Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36 BoxType) + (objectType Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 WindowType) + (objectType LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 LightSwitchType) + (objectType Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 PaintingType) + (objectType RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_87 RemoteControlType) + (objectType Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 PillowType) + (objectType Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 PaintingType) + (objectType Statue_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__plus_03_dot_76 StatueType) + (objectType CreditCard_bar__minus_01_dot_95_bar__plus_00_dot_71_bar__plus_03_dot_98 CreditCardType) + (objectType HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 HousePlantType) + (objectType KeyChain_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 KeyChainType) + (objectType RemoteControl_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_20 RemoteControlType) + (canContain CoffeeTableType BookType) + (canContain CoffeeTableType WatchType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType BookType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain SideTableType BookType) + (canContain SideTableType WatchType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49) + (pickupable RemoteControl_bar__minus_01_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74) + (pickupable Laptop_bar__minus_03_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_58) + (pickupable KeyChain_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_87) + (pickupable KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54) + (pickupable Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20) + (pickupable Statue_bar__minus_01_dot_35_bar__plus_00_dot_72_bar__plus_03_dot_87) + (pickupable Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_42) + (pickupable Book_bar__minus_01_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_56) + (pickupable Book_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52) + (pickupable Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65) + (pickupable Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36) + (pickupable RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_87) + (pickupable Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43) + (pickupable Statue_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__plus_03_dot_76) + (pickupable CreditCard_bar__minus_01_dot_95_bar__plus_00_dot_71_bar__plus_03_dot_98) + (pickupable KeyChain_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48) + (pickupable RemoteControl_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_20) + (isReceptacleObject Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49) + (isReceptacleObject Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36) + + + (atLocation agent1 loc_bar__minus_1_bar_13_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01) + + + + + (inReceptacle Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle KeyChain_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Statue_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__plus_03_dot_76 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle CreditCard_bar__minus_01_dot_95_bar__plus_00_dot_71_bar__plus_03_dot_98 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Statue_bar__minus_01_dot_35_bar__plus_00_dot_72_bar__plus_03_dot_87 TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87) + (inReceptacle Laptop_bar__minus_03_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_58 ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Book_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle RemoteControl_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_20 CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36) + (inReceptacle RemoteControl_bar__minus_01_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Book_bar__minus_01_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_56 Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45) + (inReceptacle Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + (inReceptacle Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_42 SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34) + + + (receptacleAtLocation ArmChair_bar__minus_03_dot_08_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar__minus_12_bar_6_bar_2_bar_45) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_74_bar__plus_00_dot_00_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_38_bar__plus_00_dot_00_bar__plus_04_dot_10 loc_bar_2_bar_15_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_63_bar__plus_00_dot_00_bar__plus_00_dot_34 loc_bar_3_bar_6_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_01_dot_16_bar__plus_00_dot_00_bar__plus_00_dot_45 loc_bar__minus_5_bar_7_bar_2_bar_45) + (receptacleAtLocation TVStand_bar__minus_01_dot_57_bar__plus_00_dot_00_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_65 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_01_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_74 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_35_bar__plus_00_dot_72_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_82_bar__plus_00_dot_56_bar__plus_00_dot_48 loc_bar__minus_11_bar_5_bar_2_bar_60) + (objectAtLocation Box_bar__plus_00_dot_33_bar__plus_00_dot_89_bar__plus_00_dot_49 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_35_bar__plus_00_dot_55_bar__plus_00_dot_56 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_20_bar__plus_00_dot_71_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_80_bar__plus_00_dot_71_bar__plus_03_dot_87 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Book_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_52 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_05_bar__plus_01_dot_69_bar__plus_04_dot_34 loc_bar__minus_12_bar_15_bar_0_bar_0) + (objectAtLocation Curtains_bar__minus_03_dot_97_bar__plus_02_dot_26_bar__plus_01_dot_45 loc_bar__minus_12_bar_6_bar_3_bar__minus_30) + (objectAtLocation Book_bar__plus_00_dot_75_bar__plus_00_dot_72_bar__plus_00_dot_42 loc_bar_3_bar_6_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_46_bar__plus_00_dot_64_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_10_bar__plus_01_dot_77_bar__minus_00_dot_02 loc_bar__minus_4_bar_5_bar_2_bar_0) + (objectAtLocation LightSwitch_bar__minus_00_dot_13_bar__plus_01_dot_41_bar__plus_04_dot_35 loc_bar__minus_1_bar_14_bar_0_bar_15) + (objectAtLocation Television_bar__minus_01_dot_51_bar__plus_01_dot_19_bar__plus_04_dot_13 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_02_bar__plus_00_dot_44_bar__plus_02_dot_36 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_22_bar__plus_00_dot_55_bar__plus_00_dot_58 loc_bar__minus_12_bar_6_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_65_bar__plus_00_dot_71_bar__plus_03_dot_54 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_51_bar__plus_00_dot_66_bar__plus_00_dot_43 loc_bar__minus_5_bar_7_bar_2_bar_45) + (objectAtLocation Statue_bar__minus_01_dot_65_bar__plus_00_dot_72_bar__plus_03_dot_76 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation FloorLamp_bar__minus_03_dot_69_bar__plus_00_dot_00_bar__plus_04_dot_01 loc_bar__minus_14_bar_14_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_09_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_95_bar__plus_00_dot_71_bar__plus_03_dot_98 loc_bar__minus_6_bar_12_bar_0_bar_60) + (objectAtLocation Watch_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_02_dot_20 loc_bar__minus_6_bar_5_bar_0_bar_60) + (objectAtLocation Window_bar__minus_04_dot_05_bar__plus_01_dot_20_bar__plus_01_dot_31 loc_bar__minus_12_bar_5_bar_3_bar_30) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o StatueType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Statue-None-FloorLamp-202/trial_T20190907_162331_635747/traj_data.json 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"random_seed": 1588223063, + "scene_num": 202 + }, + "task_id": "trial_T20190907_162331_635747", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_36NEMU28XIUFU7046HM6OJD6I6DWMM", + "high_descs": [ + "Go forward and then turn to the right to face the television.", + "Pick the statue on the left up from the stand.", + "Go left to face the lamp in the corner of the room.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on with a statue in hand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3CCZ6YKWRA06A42QL7VSTXU9YAW95D", + "high_descs": [ + "Walk forward to the statues on the television stand.", + "Pick up the statue on the left.", + "Turn left and walk to the floor lamp in the corner of the room.", + "Turn on the lamp." + ], + "task_desc": "Examine a statue by the light of a floor lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3S06PH7KSULJPCEOW0YIC30IDFK1DI", + "high_descs": [ + "take a few steps forward and turn to the left and take a step forward and turn to the right and go to the end of the TV stand and turn to the right", + "pick up the statue from the TV stand", + "turn to the left and go to the wall and turn to the right and go to the floor lamp", + "turn on the floor lamp" + ], + "task_desc": "Examine a statue by light of a floor lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..21d1771272ac104abb2e4c0ca98886c349084527 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/initial_state.pddl @@ -0,0 +1,655 @@ + +(define (problem plan_trial_T20190907_003948_761106) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType 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Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_9_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_2_bar_12_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType) + (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType) + (objectType CellPhone_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_20 CellPhoneType) + (objectType Book_bar__minus_00_dot_70_bar__plus_00_dot_10_bar__minus_01_dot_32 BookType) + (objectType Pencil_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_48 PencilType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 MugType) + (objectType Book_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_03_dot_05 BookType) + (objectType Pen_bar__plus_02_dot_01_bar__plus_00_dot_07_bar__minus_01_dot_15 PenType) + (objectType CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_52_bar__minus_00_dot_82 CellPhoneType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType CD_bar__minus_00_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_38 CDType) + (objectType KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 KeyChainType) + (objectType CellPhone_bar__minus_00_dot_42_bar__plus_01_dot_84_bar__plus_02_dot_20 CellPhoneType) + (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType) + (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType AlarmClock_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 AlarmClockType) + (objectType Book_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 BookType) + (objectType Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_94 PillowType) + (objectType CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_51 CreditCardType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 PencilType) + (objectType Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_50 LaptopType) + (objectType Pen_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_49 PenType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_91 PillowType) + (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType) + (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType) + (objectType CD_bar__minus_00_dot_46_bar__plus_00_dot_07_bar__plus_02_dot_31 CDType) + (objectType Pencil_bar__minus_00_dot_54_bar__plus_00_dot_51_bar__plus_02_dot_79 PencilType) + (objectType Laptop_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 LaptopType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain 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CD_bar__minus_00_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_38) + (pickupable KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70) + (pickupable CellPhone_bar__minus_00_dot_42_bar__plus_01_dot_84_bar__plus_02_dot_20) + (pickupable AlarmClock_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82) + (pickupable Book_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08) + (pickupable Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_94) + (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_51) + (pickupable Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48) + (pickupable Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_50) + (pickupable Pen_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_49) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_91) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable CD_bar__minus_00_dot_46_bar__plus_00_dot_07_bar__plus_02_dot_31) + (pickupable Pencil_bar__minus_00_dot_54_bar__plus_00_dot_51_bar__plus_02_dot_79) + (pickupable Laptop_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99) + (isReceptacleObject Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_2_bar_12_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + + (heatable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + (coolable Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Book_bar__minus_00_dot_70_bar__plus_00_dot_10_bar__minus_01_dot_32 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32) + (inReceptacle CD_bar__minus_00_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_38 Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (inReceptacle CellPhone_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_20 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Book_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle CellPhone_bar__minus_00_dot_42_bar__plus_01_dot_84_bar__plus_02_dot_20 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_91 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_51 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_52_bar__minus_00_dot_82 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (inReceptacle Laptop_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_50 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pen_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32) + (inReceptacle Book_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle AlarmClock_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Pencil_bar__minus_00_dot_54_bar__plus_00_dot_51_bar__plus_02_dot_79 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pencil_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_48 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_02_dot_01_bar__plus_00_dot_07_bar__minus_01_dot_15 GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_71_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_58_bar__plus_00_dot_52_bar__plus_02_dot_38 loc_bar_1_bar_5_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_63_bar__plus_01_dot_84_bar__plus_02_dot_20 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pen_bar__plus_02_dot_01_bar__plus_00_dot_07_bar__minus_01_dot_15 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_70_bar__plus_00_dot_10_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_70_bar__plus_01_dot_84_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pencil_bar__plus_01_dot_61_bar__plus_00_dot_73_bar__plus_00_dot_48 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_42_bar__plus_01_dot_84_bar__plus_02_dot_20 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_08 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_66_bar__plus_00_dot_42_bar__minus_01_dot_49 loc_bar_1_bar__minus_5_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__minus_00_dot_57_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_87_bar__plus_01_dot_59_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_91 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation CellPhone_bar__plus_01_dot_77_bar__plus_00_dot_52_bar__minus_00_dot_82 loc_bar_3_bar__minus_2_bar_1_bar_45) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_70 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_43_bar__plus_01_dot_51 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_46_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_1_bar_9_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_54_bar__plus_00_dot_51_bar__plus_02_dot_79 loc_bar_2_bar_11_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_50 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?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 TennisRacketType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9e681fffb121d53b863cadd749f647f616f38767 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_003948_761106/traj_data.json @@ -0,0 +1,3778 @@ +{ + "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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", + "Bring the racket to the desk.", + "Turn on the lamp on the desk." + ], + "task_desc": "Examine the racket with the light of the desk lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3A1COHJ8NMCICS3BHHQNIY2OIIXH8E", + "high_descs": [ + "Turn around and begin walking across the room, then hang a right and forward.", + "Pick up the tennis racket that is leaning against the wall.", + "Turn around and walk over to the small lamp on the wooden desk.", + "Turn on the light of the small lamp." + ], + "task_desc": "Examine a tennis racket in the light of a small lamp.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3NL0RFNU0I48VHHHBZ37EE2B8D94K2", + "high_descs": [ + "turn around, move half way then turn right towards the middle of the bunks", + "pick up the bat", + "turn around and move towards the table", + "turn on the table lamp" + ], + "task_desc": "turn on the table lamp with the bat", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9546d41ba2893d6395aa375f3740abe458910700 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/initial_state.pddl @@ -0,0 +1,649 @@ + +(define (problem plan_trial_T20190907_004001_972587) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 - object + Book_bar__minus_00_dot_56_bar__plus_01_dot_84_bar__plus_02_dot_48 - object + Book_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_99 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_82 - object + CellPhone_bar__minus_00_dot_71_bar__plus_00_dot_98_bar__minus_01_dot_42 - object + CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_99 - object + Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_94 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09 - object + Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 - object + Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_01 - object + Pen_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - object + Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_3_bar__minus_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType) + (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType) + (objectType Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 PenType) + (objectType Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_94 LaptopType) + (objectType Pen_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 PenType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 PencilType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 CreditCardType) + (objectType Book_bar__minus_00_dot_56_bar__plus_01_dot_84_bar__plus_02_dot_48 BookType) + (objectType AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 AlarmClockType) + (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType) + (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09 MugType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 BookType) + (objectType CellPhone_bar__minus_00_dot_71_bar__plus_00_dot_98_bar__minus_01_dot_42 CellPhoneType) + (objectType CD_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_82 CDType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 PillowType) + (objectType Book_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_99 BookType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType) + (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType) + (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType) + (objectType AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 AlarmClockType) + (objectType KeyChain_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_99 KeyChainType) + (objectType CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 CellPhoneType) + (objectType Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_01 PenType) + (objectType Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 MugType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BoxType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80) + (pickupable Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_94) + (pickupable Pen_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13) + (pickupable CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25) + (pickupable Book_bar__minus_00_dot_56_bar__plus_01_dot_84_bar__plus_02_dot_48) + (pickupable AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60) + (pickupable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61) + (pickupable CellPhone_bar__minus_00_dot_71_bar__plus_00_dot_98_bar__minus_01_dot_42) + (pickupable CD_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_82) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35) + (pickupable Book_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_99) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable KeyChain_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_99) + (pickupable CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17) + (pickupable Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_01) + (pickupable Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + (isReceptacleObject Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (isReceptacleObject Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_3_bar__minus_4_bar_3_bar_30) + + (cleanable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09) + (cleanable Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + + (heatable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09) + (heatable Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + (coolable Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09) + (coolable Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Book_bar__minus_00_dot_56_bar__plus_01_dot_84_bar__plus_02_dot_48 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle Book_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_99 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_94 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Pen_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle KeyChain_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_99 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle CellPhone_bar__minus_00_dot_71_bar__plus_00_dot_98_bar__minus_01_dot_42 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_01 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle CD_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_82 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (inReceptacle Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_53_bar__plus_00_dot_06_bar__plus_02_dot_09 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_71_bar__plus_00_dot_98_bar__minus_01_dot_42 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_81_bar__plus_00_dot_73_bar__minus_00_dot_01 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_01_dot_99 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_56_bar__plus_01_dot_84_bar__plus_02_dot_48 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pen_bar__minus_00_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__plus_01_dot_67_bar__plus_00_dot_46_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_01_dot_60 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_92_bar__plus_01_dot_35 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation CellPhone_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_01_dot_17 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__minus_00_dot_95_bar__plus_00_dot_67_bar__plus_02_dot_99 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_03_dot_25 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_72_bar__plus_00_dot_11_bar__minus_00_dot_82 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_59_bar__plus_00_dot_29_bar__plus_03_dot_13 loc_bar_1_bar_8_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_94 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?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 TennisRacketType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1500d49aa21562cd8cc7991bbf661d1e7c86c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004001_972587/traj_data.json @@ -0,0 +1,3579 @@ +{ + "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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Turn left and move forward towards tennis racket.", + "Pick up the orange handled tennis racket with handle facing down.", + "Turn right and move forward till frame. Turn right and move forward towards desk.", + "Turn on lamp that is on desk." + ], + "task_desc": "Grab a tennis racket between beds, turn on the lamp.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3C8HJ7UOPABJO259H46DNN7OY8VMZF", + "high_descs": [ + "turn and walk to the front side of the bed", + "pick up the tennis racket at the front foot of the bed", + "turn around and walk to the desk", + "turn the lamp on on top of the desk" + ], + "task_desc": "turn on the lamp on top of the desk while holding a tennis racket", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3FTYUGLFSX2IDUF7XN0UFTDZOTI5DS", + "high_descs": [ + "Turn right and walk straight, turn to the the tennis bat on the ground on the left", + "Grab the bat on the floor", + "Turn right and walk to the table by the sofa", + "Turn on the lamp on the table" + ], + "task_desc": "Grab the tennis bat on the floor, turn on the lamp on the table", + "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-TennisRacket-None-DeskLamp-318/trial_T20190907_004013_824414/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004013_824414/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8f53c23476c628245940bf2b8e302282c57dc143 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004013_824414/initial_state.pddl @@ -0,0 +1,645 @@ + +(define (problem plan_trial_T20190907_004013_824414) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_42_bar__plus_00_dot_68_bar__plus_02_dot_36 - object + AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 - object + Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 - object + Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 - object + Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 - object + Book_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 - object + Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 - object + CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 - object + CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_99 - object + Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 - object + Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 - object + CreditCard_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 - object + KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 - object + KeyChain_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 - object + Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 - object + LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 - object + Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 - object + Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02 - object + Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 - object + Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 - object + Pencil_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 - object + Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_24 - object + Pen_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_82 - object + Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 - object + Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 - object + Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 - object + TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 - object + Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 - object + ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 - receptacle + Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 - receptacle + Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 - receptacle + Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 - receptacle + Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 - receptacle + Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 - receptacle + Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 - receptacle + Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 - receptacle + Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 - receptacle + GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 - receptacle + loc_bar_1_bar_7_bar_0_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_1_bar_3_bar_60 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar_2_bar__minus_1_bar_1_bar_45 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_3_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_5_bar_0_bar_45 - location + loc_bar_7_bar_10_bar_2_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_0 - location + loc_bar_6_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_2_bar_11_bar_3_bar_45 - location + loc_bar_1_bar__minus_5_bar_3_bar_45 - location + loc_bar_1_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_7_bar_3_bar_60 - location + loc_bar_7_bar_11_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_1_bar_45 - location + loc_bar_2_bar__minus_1_bar_1_bar_60 - location + loc_bar_4_bar_9_bar_3_bar_0 - location + loc_bar_4_bar_6_bar_1_bar_60 - location + loc_bar_3_bar__minus_2_bar_1_bar_45 - location + loc_bar_2_bar_7_bar_3_bar_60 - location + loc_bar_1_bar_12_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_3_bar_60 - location + loc_bar_1_bar_8_bar_0_bar_60 - location + loc_bar_6_bar__minus_5_bar_1_bar_60 - location + loc_bar_4_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 DrawerType) + (receptacleType Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 DresserType) + (receptacleType GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 GarbageCanType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 DrawerType) + (receptacleType Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 BedType) + (receptacleType Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 DresserType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 DrawerType) + (receptacleType Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 CabinetType) + (receptacleType Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 BedType) + (receptacleType Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 DeskType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 DrawerType) + (receptacleType ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 ArmChairType) + (objectType Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 PenType) + (objectType Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 ChairType) + (objectType Book_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 BookType) + (objectType DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 DeskLampType) + (objectType Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02 MugType) + (objectType Pen_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_82 PenType) + (objectType AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_36 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 KeyChainType) + (objectType CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 CDType) + (objectType Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 ChairType) + (objectType Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 WindowType) + (objectType Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 PaintingType) + (objectType Pencil_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 PencilType) + (objectType Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 BookType) + (objectType Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 PillowType) + (objectType LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 LightSwitchType) + (objectType Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 LaptopType) + (objectType CreditCard_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 CreditCardType) + (objectType Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_24 PenType) + (objectType CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_99 CellPhoneType) + (objectType KeyChain_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 KeyChainType) + (objectType Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 MirrorType) + (objectType Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 BlindsType) + (objectType Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 PillowType) + (objectType TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 TennisRacketType) + (objectType Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 BoxType) + (objectType AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 AlarmClockType) + (objectType Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 PencilType) + (objectType Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 BookType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType TennisRacketType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType BoxType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (pickupable Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Book_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27) + (pickupable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02) + (pickupable Pen_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_82) + (pickupable AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_36) + (pickupable KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88) + (pickupable CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62) + (pickupable Pencil_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36) + (pickupable Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25) + (pickupable Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05) + (pickupable Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61) + (pickupable CreditCard_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18) + (pickupable Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_24) + (pickupable CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_99) + (pickupable KeyChain_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82) + (pickupable Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53) + (pickupable TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23) + (pickupable Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (pickupable AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13) + (pickupable Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51) + (pickupable Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31) + (isReceptacleObject Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02) + (isReceptacleObject Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96) + (openable Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (openable Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36) + (openable Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96) + + (atLocation agent1 loc_bar_4_bar_0_bar_0_bar_30) + + (cleanable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02) + + (heatable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02) + (coolable Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02) + + + (toggleable DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71) + + + + + (inReceptacle Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17) + (inReceptacle Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61) + (inReceptacle Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53) + (inReceptacle Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle CreditCard_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pencil_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80) + (inReceptacle Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle Book_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92) + (inReceptacle CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_99 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle KeyChain_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97) + (inReceptacle AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31) + (inReceptacle DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_24 Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12) + (inReceptacle Pen_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_82 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78) + + + (receptacleAtLocation ArmChair_bar__plus_01_dot_83_bar__plus_00_dot_01_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_87_bar__plus_00_dot_00_bar__minus_00_dot_92 loc_bar_1_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_88_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar_4_bar_9_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_26_bar__plus_02_dot_53 loc_bar_2_bar_7_bar_3_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_81_bar__minus_00_dot_01_bar__minus_00_dot_12 loc_bar_4_bar_1_bar_1_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_65_bar__plus_00_dot_01_bar__plus_01_dot_80 loc_bar_1_bar_7_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_36 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_15_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_36 loc_bar_2_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_36_bar__minus_00_dot_78 loc_bar_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_36 loc_bar_3_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_57_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_57_bar__plus_00_dot_57_bar__plus_02_dot_24 loc_bar_1_bar_5_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_15_bar__plus_02_dot_96 loc_bar_1_bar_7_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_37_bar__plus_02_dot_96 loc_bar_1_bar_8_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_58_bar__plus_00_dot_56_bar__plus_02_dot_96 loc_bar_2_bar_11_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_22_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_54_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_70_bar__plus_00_dot_83_bar__minus_01_dot_32 loc_bar_1_bar__minus_5_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_00_dot_66_bar__minus_00_dot_01_bar__plus_02_dot_97 loc_bar_1_bar_12_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_77_bar__minus_00_dot_01_bar__minus_01_dot_31 loc_bar_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_02_dot_03_bar__plus_00_dot_00_bar__minus_01_dot_19 loc_bar_6_bar__minus_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_63_bar__plus_00_dot_98_bar__minus_01_dot_51 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_84_bar__plus_00_dot_44_bar__plus_01_dot_88 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_58_bar__plus_00_dot_98_bar__minus_01_dot_13 loc_bar_1_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_96_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_25 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Book_bar__minus_01_dot_14_bar__plus_01_dot_50_bar__minus_00_dot_27 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_66_bar__plus_00_dot_11_bar__minus_00_dot_82 loc_bar_2_bar__minus_1_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_25_bar__plus_00_dot_43_bar__plus_01_dot_46 loc_bar_1_bar_6_bar_3_bar_60) + (objectAtLocation Book_bar__minus_00_dot_67_bar__plus_00_dot_07_bar__plus_02_dot_31 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__plus_01_dot_48_bar__plus_00_dot_43_bar__plus_00_dot_22 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_49_bar__plus_00_dot_20_bar__minus_00_dot_29 loc_bar_1_bar__minus_1_bar_3_bar_60) + (objectAtLocation DeskLamp_bar__plus_02_dot_01_bar__plus_00_dot_72_bar__plus_00_dot_71 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_35_bar__plus_00_dot_29_bar__plus_00_dot_23 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_52_bar__plus_00_dot_73_bar__plus_00_dot_24 loc_bar_4_bar_1_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_63_bar__plus_01_dot_87_bar__plus_03_dot_05 loc_bar_4_bar_9_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_00_dot_83_bar__plus_01_dot_55_bar__minus_01_dot_53 loc_bar_1_bar__minus_3_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_67_bar__plus_00_dot_67_bar__plus_02_dot_99 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_02_dot_20_bar__plus_01_dot_77_bar__minus_00_dot_10 loc_bar_4_bar_0_bar_1_bar_0) + (objectAtLocation KeyChain_bar__minus_00_dot_86_bar__plus_00_dot_67_bar__plus_02_dot_82 loc_bar_1_bar_12_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_42_bar__plus_00_dot_68_bar__plus_02_dot_18 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_23_bar__plus_01_dot_26_bar__plus_02_dot_66 loc_bar_7_bar_11_bar_1_bar_45) + (objectAtLocation CD_bar__minus_00_dot_51_bar__plus_00_dot_68_bar__plus_01_dot_62 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_02_dot_20_bar__plus_01_dot_26_bar__plus_01_dot_99 loc_bar_7_bar_10_bar_2_bar_45) + (objectAtLocation Window_bar__plus_01_dot_58_bar__plus_01_dot_56_bar__minus_01_dot_95 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_78_bar__plus_00_dot_68_bar__plus_02_dot_36 loc_bar_1_bar_7_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_67_bar__plus_00_dot_45_bar__plus_01_dot_61 loc_bar_4_bar_6_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_60_bar__plus_00_dot_06_bar__plus_02_dot_02 loc_bar_2_bar_7_bar_3_bar_60) + (objectAtLocation Blinds_bar__plus_01_dot_55_bar__plus_02_dot_44_bar__minus_01_dot_89 loc_bar_6_bar__minus_5_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?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 TennisRacketType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004013_824414/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-TennisRacket-None-DeskLamp-318/trial_T20190907_004013_824414/traj_data.json new file mode 100644 index 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"A2MHM7JK1T9XHR_3UWN2HHPU1MS584VYDR549ZLGHBNSD", + "high_descs": [ + "Turn left and walk to the tennis racket leaning against the wall.", + "Pick the tennis racket up. ", + "Turn around and walk to the lamp sitting on the desk.", + "Turn the lamp on." + ], + "task_desc": "Take tennis racket to turn on a lamp.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..323b380582677b556556a1aa8d2875f138ca8ec8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/initial_state.pddl @@ -0,0 +1,626 @@ + +(define (problem plan_trial_T20190908_023857_816813) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_78_bar__plus_00_dot_95_bar__minus_01_dot_82 - object + Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 - object + Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68 - object + CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 - object + CellPhone_bar__minus_04_dot_18_bar__plus_00_dot_80_bar__plus_01_dot_07 - object + Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 - object + Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 - object + Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 - object + Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 - object + Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 - object + Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 - object + CreditCard_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_70 - object + CreditCard_bar__minus_04_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_92 - object + FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 - object + HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 - object + KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_40 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_20 - object + Laptop_bar__minus_02_dot_56_bar__plus_00_dot_32_bar__plus_02_dot_70 - object + LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 - object + Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 - object + Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35 - object + Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_88 - object + RemoteControl_bar__minus_00_dot_05_bar__plus_00_dot_33_bar__plus_01_dot_31 - object + RemoteControl_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_33 - object + Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 - object + Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_33 - object + Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 - object + Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 - object + Vase_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_33 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 - object + Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 - object + WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 - object + Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 - object + Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 - object + Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 - object + ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 - receptacle + Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 - receptacle + DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 - receptacle + Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 - receptacle + Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 - receptacle + Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 - receptacle + TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 - receptacle + loc_bar__minus_11_bar_16_bar_3_bar_60 - location + loc_bar__minus_9_bar_20_bar_0_bar_60 - location + loc_bar__minus_1_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_12_bar_0_bar_60 - location + loc_bar__minus_1_bar_20_bar_0_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_11_bar_14_bar_2_bar_60 - location + loc_bar__minus_15_bar_7_bar_3_bar_0 - location + loc_bar__minus_10_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_10_bar_1_bar_2_bar_60 - location + loc_bar__minus_11_bar_4_bar_3_bar_0 - location + loc_bar__minus_2_bar_10_bar_2_bar_60 - location + loc_bar__minus_15_bar_10_bar_3_bar_0 - location + loc_bar__minus_14_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_18_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_60 - location + loc_bar__minus_10_bar_1_bar_2_bar_0 - location + loc_bar__minus_10_bar__minus_12_bar_0_bar_60 - location + loc_bar_0_bar_11_bar_2_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_60 - location + loc_bar__minus_14_bar_3_bar_3_bar_45 - location + loc_bar__minus_14_bar_4_bar_3_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_0_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_0 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_45 - location + loc_bar__minus_12_bar_21_bar_0_bar_0 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_12_bar_14_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 DiningTableType) + (receptacleType TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 SofaType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 GarbageCanType) + (receptacleType Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 ShelfType) + (receptacleType Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 DeskType) + (receptacleType ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 ArmChairType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 CoffeeTableType) + (receptacleType Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 SafeType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 ShelfType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 ShelfType) + (receptacleType Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 SofaType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (objectType Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 StatueType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TelevisionType) + (objectType LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 LightSwitchType) + (objectType Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 ChairType) + (objectType Box_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_82 BoxType) + (objectType Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_88 PillowType) + (objectType HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 HousePlantType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 VaseType) + (objectType Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 ChairType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 VaseType) + (objectType WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 WateringCanType) + (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 CellPhoneType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType CreditCard_bar__minus_04_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_92 CreditCardType) + (objectType Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 ChairType) + (objectType Vase_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_33 VaseType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 PaintingType) + (objectType CreditCard_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_70 CreditCardType) + (objectType RemoteControl_bar__minus_00_dot_05_bar__plus_00_dot_33_bar__plus_01_dot_31 RemoteControlType) + (objectType KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_40 KeyChainType) + (objectType Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 ChairType) + (objectType FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 FloorLampType) + (objectType RemoteControl_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_33 RemoteControlType) + (objectType Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 WindowType) + (objectType Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 ChairType) + (objectType Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_33 StatueType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Laptop_bar__minus_02_dot_56_bar__plus_00_dot_32_bar__plus_02_dot_70 LaptopType) + (objectType Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68 BoxType) + (objectType Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 BoxType) + (objectType CellPhone_bar__minus_04_dot_18_bar__plus_00_dot_80_bar__plus_01_dot_07 CellPhoneType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_20 LaptopType) + (objectType Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 ChairType) + (objectType Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 StatueType) + (objectType Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 ChairType) + (objectType Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35 PillowType) + (objectType Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 PaintingType) + (objectType Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 VaseType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DeskType VaseType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType RemoteControlType) + (canContain DeskType StatueType) + (canContain DeskType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType VaseType) + (canContain SafeType CreditCardType) + (canContain SafeType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType 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CreditCard_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_70) + (pickupable RemoteControl_bar__minus_00_dot_05_bar__plus_00_dot_33_bar__plus_01_dot_31) + (pickupable KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_40) + (pickupable RemoteControl_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_33) + (pickupable Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_33) + (pickupable Laptop_bar__minus_02_dot_56_bar__plus_00_dot_32_bar__plus_02_dot_70) + (pickupable Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68) + (pickupable Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92) + (pickupable CellPhone_bar__minus_04_dot_18_bar__plus_00_dot_80_bar__plus_01_dot_07) + (pickupable Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_20) + (pickupable Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12) + (pickupable Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76) + (isReceptacleObject Box_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_82) + (isReceptacleObject Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68) + (isReceptacleObject Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + (atLocation agent1 loc_bar__minus_12_bar_14_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacle Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77) + (inReceptacle Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle RemoteControl_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_33 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Vase_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_33 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Box_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_82 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_33 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CreditCard_bar__minus_04_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_92 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77) + (inReceptacle KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_40 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle CreditCard_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_70 ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42) + (inReceptacle Laptop_bar__minus_02_dot_56_bar__plus_00_dot_32_bar__plus_02_dot_70 ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42) + (inReceptacle Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_88 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle CellPhone_bar__minus_04_dot_18_bar__plus_00_dot_80_bar__plus_01_dot_07 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle RemoteControl_bar__minus_00_dot_05_bar__plus_00_dot_33_bar__plus_01_dot_31 Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 loc_bar__minus_11_bar_14_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 loc_bar__minus_2_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 loc_bar_0_bar_11_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (receptacleAtLocation Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 loc_bar__minus_14_bar_3_bar_3_bar_45) + (receptacleAtLocation Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 loc_bar__minus_9_bar_20_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_70 loc_bar__minus_11_bar_14_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_33 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_35 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_04_dot_18_bar__plus_00_dot_80_bar__plus_01_dot_07 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Box_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_82 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_68 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_91_bar__plus_00_dot_68_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 loc_bar__minus_4_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 loc_bar__minus_14_bar_1_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 loc_bar__minus_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 loc_bar__minus_7_bar__minus_12_bar_2_bar_15) + (objectAtLocation Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_7_bar__minus_5_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_1_bar_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 loc_bar__minus_10_bar__minus_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 loc_bar__minus_10_bar__minus_5_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 loc_bar_1_bar_18_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_33 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_40 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_74_bar__plus_01_dot_40 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_02_dot_56_bar__plus_00_dot_32_bar__plus_02_dot_70 loc_bar__minus_11_bar_14_bar_2_bar_60) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 loc_bar__minus_15_bar_7_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_12_bar_21_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 loc_bar__minus_15_bar_10_bar_3_bar_0) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_1_bar_20_bar_0_bar_0) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 loc_bar__minus_12_bar_21_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_03_dot_48_bar__plus_00_dot_45_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_05_bar__plus_00_dot_33_bar__plus_01_dot_31 loc_bar__minus_3_bar_2_bar_1_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_04_dot_33_bar__plus_01_dot_65_bar__plus_00_dot_92 loc_bar__minus_11_bar_4_bar_3_bar_0) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_11_bar__minus_4_bar_0_bar_15) + (objectAtLocation Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 loc_bar__minus_14_bar_4_bar_3_bar_30) + (objectAtLocation Statue_bar__minus_02_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_95_bar__plus_00_dot_51_bar__plus_04_dot_12 loc_bar__minus_8_bar_12_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o VaseType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8d0dd67a51bac478b71c47ffdfd28d99bf635f8e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_023857_816813/traj_data.json @@ -0,0 +1,3462 @@ +{ + "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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+ "init_action": { + "action": "TeleportFull", + "horizon": 30, + "rotateOnTeleport": true, + "rotation": 180, + "x": -3.0, + "y": 0.9023143, + "z": 3.5 + }, + "object_poses": [ + { + "objectName": "CellPhone_204455c6", + "position": { + "x": -0.601487, + "y": 0.7452884, + "z": 1.39817667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_1332ecdc", + "position": { + "x": -4.32727242, + "y": 1.652496, + "z": 0.9205899 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_c0567e89", + "position": { + "x": -0.0475997925, + "y": 0.331221223, + "z": 1.31139541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_6194c360", + "position": { + "x": -2.91426253, + "y": 0.6797918, + "z": 5.91638374 + }, + "rotation": { + "x": 0.0, + "y": 269.999664, + "z": 0.0 + } + }, + { + "objectName": "Box_6194c360", + "position": { + "x": -3.585543, + "y": 0.684397042, + "z": 4.68227053 + }, + "rotation": { + "x": 0.0, + "y": 179.999832, + "z": 0.0 + } + }, + { + "objectName": "Pillow_b4695ca2", + "position": { + "x": -3.48369026, + "y": 0.451097369, + "z": 3.88196468 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "Laptop_b52a600c", + "position": { + "x": -2.55731034, + "y": 0.316999972, + "z": 2.69525385 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Box_6194c360", + "position": { + "x": -1.78399992, + "y": 0.9452893, + "z": -1.82036531 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_dcfe6563", + "position": { + "x": -1.545386, + "y": 0.462161452, + "z": 4.325874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_204455c6", + "position": { + "x": -4.176011, + "y": 0.798004866, + "z": 1.07017982 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WateringCan_e84430bf", + "position": { + "x": -3.580065, + "y": 0.003284134, + "z": 5.507199 + }, + "rotation": { + "x": 2.68436074, + "y": 0.478516877, + "z": 359.621582 + } + }, + { + "objectName": "KeyChain_dc99b2bc", + "position": { + "x": 0.137277469, + "y": 0.7428192, + "z": 1.39817667 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_6ec6da3b", + "position": { + "x": -4.24254131, + "y": 0.7890503, + "z": 1.18166792 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_a35e5095", + "position": { + "x": -4.22882175, + "y": 0.7890503, + "z": 0.756116331 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_b52a600c", + "position": { + "x": -2.01103663, + "y": 0.653, + "z": -2.20216084 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_b4695ca2", + "position": { + "x": -3.48368835, + "y": 0.451097369, + "z": 3.34842682 + }, + "rotation": { + "x": 0.0, + "y": 89.9998245, + "z": 0.0 + } + }, + { + "objectName": "RemoteControl_c0567e89", + "position": { + "x": -2.10600162, + "y": 0.454154283, + "z": 4.325874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_1332ecdc", + "position": { + "x": -2.77237916, + "y": 0.318995953, + "z": 2.69525385 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_e6ddb463", + "position": { + "x": -4.22549725, + "y": 0.7890503, + "z": 0.3822019 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_0b2c9eee", + "position": { + "x": -4.223063, + "y": 1.263494, + "z": 0.3990282 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_aa71ba08", + "position": { + "x": -2.23807335, + "y": 0.665064, + "z": -2.32942581 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_be040014", + "position": { + "x": -1.948811, + "y": 0.506, + "z": 4.122305 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [ + { + "isOn": false, + "objectType": "FloorLamp" + } + ], + "random_seed": 2563364542, + "scene_num": 204 + }, + "task_id": "trial_T20190908_023857_816813", + "task_type": "look_at_obj_in_light", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_35L9RVQFCRZGAPAOKKRSEQKDGEPHU5", + "high_descs": [ + "turn left, walk around the coffee table to the other side", + "grab the yellow bottle near the edge", + "turn left, walk around the chairs to the corner of the room ", + "turn on the light behind the TV" + ], + "task_desc": "grab the yellow bottle on the coffee table, turn on the light behind the TV", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3BQU611VFS1PBR42OX895DZBKGM99V", + "high_descs": [ + "walk to face the right side of the glass coffee table", + "pick up the gold glass statue on the right side of the coffee table", + "turn around to walk to the floor lamp on the right of the tv set", + "turn on the floor lamp" + ], + "task_desc": "turn on the living room floor lamp while holding a gold glass statue", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ALDWVFR4I0V2D_3TDXMTX3CEBV49V7UKBAYW7CD53I6E", + "high_descs": [ + "Turn left and walk to the edge of the glass table, turn left again and walk to the other side of the table. Face the table and look down.", + "Pick up the gold candle holder", + "Turn right and walk around the chairs behind the glass table. Turn left and walk straight towards the table with the TV on it.", + "Turn on the lamp next to the TV" + ], + "task_desc": "Pick up a gold candle holder and turn on a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/initial_state.pddl b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6166424722f74863a6be48269160bac5dc1041e0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/initial_state.pddl @@ -0,0 +1,625 @@ + +(define (problem plan_trial_T20190908_133231_636784) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69 - object + Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07 - object + CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_70_bar__plus_05_dot_97 - object + CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_19 - object + CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_01_dot_95 - object + Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 - object + Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 - object + Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 - object + Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 - object + Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 - object + Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 - object + CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74 - object + CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_60 - object + FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 - object + HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 - object + KeyChain_bar__minus_02_dot_16_bar__plus_00_dot_39_bar__plus_06_dot_10 - object + KeyChain_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_38 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_92 - object + Laptop_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_06_dot_01 - object + Laptop_bar__minus_02_dot_47_bar__plus_00_dot_65_bar__minus_01_dot_82 - object + LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 - object + Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 - object + Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_95 - object + RemoteControl_bar__minus_02_dot_39_bar__plus_00_dot_45_bar__plus_04_dot_60 - object + Statue_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_03_dot_91 - object + Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_01_dot_69 - object + Statue_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_20 - object + Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 - object + Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_02_dot_20 - object + Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69 - object + Vase_bar__minus_02_dot_39_bar__plus_00_dot_46_bar__plus_04_dot_05 - object + Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_07 - object + WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 - object + Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 - object + Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 - object + Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 - object + ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 - receptacle + Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 - receptacle + DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 - receptacle + Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 - receptacle + Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 - receptacle + Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 - receptacle + TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 - receptacle + loc_bar__minus_11_bar_16_bar_3_bar_60 - location + loc_bar__minus_9_bar_20_bar_0_bar_60 - location + loc_bar__minus_1_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_12_bar_0_bar_60 - location + loc_bar__minus_1_bar_20_bar_0_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_11_bar_14_bar_2_bar_60 - location + loc_bar__minus_15_bar_7_bar_3_bar_0 - location + loc_bar__minus_10_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_9_bar_21_bar_0_bar_60 - location + loc_bar__minus_10_bar_1_bar_2_bar_60 - location + loc_bar__minus_11_bar_4_bar_3_bar_0 - location + loc_bar__minus_2_bar_10_bar_2_bar_60 - location + loc_bar__minus_11_bar_7_bar_0_bar_60 - location + loc_bar__minus_15_bar_10_bar_3_bar_0 - location + loc_bar__minus_14_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_18_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_60 - location + loc_bar__minus_10_bar_1_bar_2_bar_0 - location + loc_bar__minus_10_bar__minus_12_bar_0_bar_60 - location + loc_bar_0_bar_11_bar_2_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_60 - location + loc_bar__minus_14_bar_3_bar_3_bar_45 - location + loc_bar__minus_14_bar_4_bar_3_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_0_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_0 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_45 - location + loc_bar__minus_12_bar_21_bar_0_bar_0 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_4_bar_16_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 DiningTableType) + (receptacleType TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 SofaType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 GarbageCanType) + (receptacleType Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 ShelfType) + (receptacleType Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 DeskType) + (receptacleType ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 ArmChairType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 CoffeeTableType) + (receptacleType Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 SafeType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 ShelfType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 ShelfType) + (receptacleType Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 SofaType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (objectType Vase_bar__minus_02_dot_39_bar__plus_00_dot_46_bar__plus_04_dot_05 VaseType) + (objectType CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_70_bar__plus_05_dot_97 CellPhoneType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType KeyChain_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_38 KeyChainType) + (objectType Laptop_bar__minus_02_dot_47_bar__plus_00_dot_65_bar__minus_01_dot_82 LaptopType) + (objectType CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_60 CreditCardType) + (objectType Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69 VaseType) + (objectType Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TelevisionType) + (objectType LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 LightSwitchType) + (objectType Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_95 PillowType) + (objectType Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 ChairType) + (objectType HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 HousePlantType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 ChairType) + (objectType Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_01_dot_69 StatueType) + (objectType Statue_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_03_dot_91 StatueType) + (objectType CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_19 CellPhoneType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 ChairType) + (objectType Laptop_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_92 LaptopType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 PaintingType) + (objectType Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 ChairType) + (objectType FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 FloorLampType) + (objectType Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 WindowType) + (objectType Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 ChairType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_02_dot_20 VaseType) + (objectType Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69 BoxType) + (objectType KeyChain_bar__minus_02_dot_16_bar__plus_00_dot_39_bar__plus_06_dot_10 KeyChainType) + (objectType CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_01_dot_95 CellPhoneType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07 BoxType) + (objectType RemoteControl_bar__minus_02_dot_39_bar__plus_00_dot_45_bar__plus_04_dot_60 RemoteControlType) + (objectType Laptop_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_06_dot_01 LaptopType) + (objectType Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 ChairType) + (objectType Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 ChairType) + (objectType Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_07 VaseType) + (objectType Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 PaintingType) + (objectType WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 WateringCanType) + (objectType Statue_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_20 StatueType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DeskType VaseType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType RemoteControlType) + (canContain DeskType StatueType) + (canContain DeskType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType VaseType) + (canContain SafeType CreditCardType) + (canContain SafeType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (pickupable Vase_bar__minus_02_dot_39_bar__plus_00_dot_46_bar__plus_04_dot_05) + (pickupable CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_70_bar__plus_05_dot_97) + (pickupable KeyChain_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_38) + (pickupable Laptop_bar__minus_02_dot_47_bar__plus_00_dot_65_bar__minus_01_dot_82) + (pickupable CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_60) + (pickupable Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69) + (pickupable Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_95) + (pickupable Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_01_dot_69) + (pickupable Statue_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_03_dot_91) + (pickupable CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74) + (pickupable CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_19) + (pickupable Laptop_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_92) + (pickupable Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_02_dot_20) + (pickupable Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69) + (pickupable KeyChain_bar__minus_02_dot_16_bar__plus_00_dot_39_bar__plus_06_dot_10) + (pickupable CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_01_dot_95) + (pickupable Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07) + (pickupable RemoteControl_bar__minus_02_dot_39_bar__plus_00_dot_45_bar__plus_04_dot_60) + (pickupable Laptop_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_06_dot_01) + (pickupable Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_07) + (pickupable WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50) + (pickupable Statue_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_20) + (isReceptacleObject Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69) + (isReceptacleObject Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + (atLocation agent1 loc_bar__minus_4_bar_16_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Laptop_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_92 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Laptop_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_06_dot_01 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Vase_bar__minus_02_dot_39_bar__plus_00_dot_46_bar__plus_04_dot_05 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle RemoteControl_bar__minus_02_dot_39_bar__plus_00_dot_45_bar__plus_04_dot_60 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Statue_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_03_dot_91 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_19 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_60 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_01_dot_69 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Laptop_bar__minus_02_dot_47_bar__plus_00_dot_65_bar__minus_01_dot_82 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_07 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_01_dot_95 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Statue_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_70_bar__plus_05_dot_97 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_95 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 loc_bar__minus_11_bar_14_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 loc_bar__minus_2_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 loc_bar_0_bar_11_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (receptacleAtLocation Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 loc_bar__minus_14_bar_3_bar_3_bar_45) + (receptacleAtLocation Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 loc_bar__minus_9_bar_20_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_16_bar__plus_00_dot_39_bar__plus_06_dot_10 loc_bar__minus_9_bar_21_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_78_bar__plus_00_dot_66_bar__minus_01_dot_95 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_00_dot_36_bar__plus_01_dot_03_bar__plus_01_dot_69 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_47_bar__plus_00_dot_65_bar__minus_01_dot_82 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_57_bar__plus_00_dot_70_bar__plus_05_dot_97 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 loc_bar__minus_4_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 loc_bar__minus_14_bar_1_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 loc_bar__minus_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 loc_bar__minus_7_bar__minus_12_bar_2_bar_15) + (objectAtLocation Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_7_bar__minus_5_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_1_bar_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 loc_bar__minus_10_bar__minus_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 loc_bar__minus_10_bar__minus_5_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 loc_bar_1_bar_18_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_33_bar__plus_00_dot_66_bar__minus_01_dot_69 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_77_bar__plus_00_dot_32_bar__plus_02_dot_38 loc_bar__minus_11_bar_7_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_39_bar__plus_00_dot_46_bar__plus_04_dot_05 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_10_bar__plus_00_dot_66_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_41_bar__plus_00_dot_39_bar__plus_06_dot_01 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 loc_bar__minus_15_bar_7_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_12_bar_21_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 loc_bar__minus_15_bar_10_bar_3_bar_0) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_1_bar_20_bar_0_bar_0) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 loc_bar__minus_12_bar_21_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_03_dot_59_bar__plus_00_dot_45_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_02_dot_39_bar__plus_00_dot_45_bar__plus_04_dot_60 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_11_bar__plus_00_dot_45_bar__plus_04_dot_60 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_47_bar__plus_00_dot_66_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_11_bar__minus_4_bar_0_bar_15) + (objectAtLocation Statue_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_55_bar__plus_00_dot_46_bar__plus_03_dot_91 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_56_bar__plus_00_dot_76_bar__minus_01_dot_69 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?ot - object + ?r - receptacle + ?a - agent + ?l - location) + (and + (objectType ?ot FloorLampType) + (toggleable ?ot) + (isToggled ?ot) + (receptacleAtLocation ?r ?l) + (atLocation ?a ?l) + (inReceptacle ?ot ?r) + ) + ) + (exists (?o - object + ?a - agent) + (and + (objectType ?o VaseType) + (holds ?a ?o) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/traj_data.json b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c161d88a7f9cb74202da5aa1162e25f128465da6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/look_at_obj_in_light-Vase-None-FloorLamp-204/trial_T20190908_133231_636784/traj_data.json @@ -0,0 +1,3714 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + 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", + "Pick up the vase on the table. ", + "Bring the vase to the lamp, left of the tv. ", + "Turn on the tall lamp on the ground. " + ], + "task_desc": "Examine the lamp in the light of the tall lamp. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3F6HPJW4JGHPN3WBWZ3M9AZ8CC6W2R", + "high_descs": [ + "Turn to the right and then right again before turning to face the glass table.", + "Pick the white vase up from the table.", + "Cross the room to face the floor lamp by the television.", + "Turn the lamp on." + ], + "task_desc": "Turn a lamp on while holding a vase.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3YHH42UU5EW2GZHYDYS6HBPDH6BL0U", + "high_descs": [ + "Move across the room to the glass coffee table facing the white vase", + "Pick up the white vase on top of the coffee table", + "Carry the vase Across the room to the floor lamp to the right of the TV", + "Turn on the lamp" + ], + "task_desc": "Carry a vase while turning on a lamp", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c47b4672c01c4ec0c28d07d87c5bf0533ca0b0a2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a candle in 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_190352_967068)\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_22_bar__plus_01_dot_05_bar__minus_03_dot_11 - object\n Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 - object\n Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 - object\n Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 - object\n SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 - object\n SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 - object\n SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 - object\n SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 - object\n SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 - object\n ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_8_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 SprayBottleType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBarType)\n (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBottleType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 ClothType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 SprayBottleType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 ClothType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92)\n (pickupable SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82)\n (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71)\n (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49)\n (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25)\n (pickupable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57)\n (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11)\n (pickupable SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59)\n (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_8_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82)\n (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49)\n (cleanable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65)\n (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57)\n (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take candle 1 from toilet 1", "go to cabinet 2", "open cabinet 1", "move candle 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1d1888aee0a875e3c8f529c564752a49c15ed17f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/initial_state.pddl @@ -0,0 +1,441 @@ + +(define (problem plan_trial_T20190907_190352_967068) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_22_bar__plus_01_dot_05_bar__minus_03_dot_11 - object + Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 - object + Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 - object + Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 - object + SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 - object + SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 - object + SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 - object + SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 - object + ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_8_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 SprayBottleType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 SoapBarType) + (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 SoapBottleType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 ToiletPaperType) + (objectType Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 ClothType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 SoapBottleType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 CandleType) + (objectType SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 SprayBottleType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 ClothType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92) + (pickupable SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82) + (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71) + (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49) + (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25) + (pickupable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57) + (pickupable SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11) + (pickupable SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59) + (pickupable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_7_bar__minus_8_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82) + (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49) + (cleanable Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65) + (cleanable Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57) + (inReceptacle SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_59 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_07_bar__plus_01_dot_05_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_96 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_92 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30) + (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_11 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_65 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__minus_03_dot_82 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_01_dot_04_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190352_967068/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..902f59128f731202454796d12fe31b8b12ea9f6f --- /dev/null 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"A1DMXEJGJY02E1_3T111IHZ5H7VFR0OIE8VWYZ5QUCR94", + "high_descs": [ + "Turn around and go to the toilet.", + "Pick up the candle from the back of the toilet.", + "Turn around to face the sink.", + "Open the cabinet on the far let and put the candle inside." + ], + "task_desc": "Put the candle in the cabinet on the far let.", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3U8YCDAGXSXD7WXB5302YXO7R40Q0A", + "high_descs": [ + "Move to the toilet to the right of the shower", + "Pick up a candle from the back of the toilet", + "Move to the sink behind you", + "Put the candle in the cabinet to the left of the sink" + ], + "task_desc": "Put a candle in the cabinet to the left of the sink", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_3XIQGXAUMFPBY4Y7CGG37KUNWSS7X1", + "high_descs": [ + "Turn around and walk straight and then turn left to face the toilet", + "Pick up the yellow candle stick from the toilet lid", + "Turn around and face the bathroom counter with a sink", + "Open the bottom left cabinet door and place the candle inside then close the door" + ], + "task_desc": "Move a candle from the toilet to the cabinet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3d0a89dd49807eace066dbfda3cad0c254109789 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a candle in 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_190403_681011)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 - object\n Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 - object\n SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 - object\n SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 - object\n SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 - object\n ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object\n ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_6_bar__minus_11_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 ClothType)\n (objectType SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 SoapBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 SoapBottleType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 CandleType)\n (objectType ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 ToiletPaperType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 SoapBarType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62)\n (pickupable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33)\n (pickupable SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49)\n (pickupable SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57)\n (pickupable SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47)\n (pickupable ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18)\n (pickupable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_6_bar__minus_11_bar_0_bar_30)\n \n (cleanable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33)\n (cleanable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57)\n (inReceptacle ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take candle 1 from countertop 1", "go to cabinet 2", "open cabinet 1", "move candle 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f3a6723f4d6eb4ba437e6e617784ee8af1b6885b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/initial_state.pddl @@ -0,0 +1,419 @@ + +(define (problem plan_trial_T20190907_190403_681011) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 - object + Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 - object + SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 - object + SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 - object + SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 - object + ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object + ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_6_bar__minus_11_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 ClothType) + (objectType SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 SoapBottleType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 SoapBottleType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 CandleType) + (objectType ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 ToiletPaperType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 SoapBarType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62) + (pickupable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33) + (pickupable SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49) + (pickupable SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57) + (pickupable SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47) + (pickupable ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18) + (pickupable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_6_bar__minus_11_bar_0_bar_30) + + (cleanable Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33) + (cleanable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57) + (inReceptacle ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_39_bar__plus_00_dot_07_bar__minus_02_dot_32 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30) + (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_44_bar__plus_00_dot_82_bar__minus_03_dot_47 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_44_bar__plus_00_dot_81_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_07_bar__minus_03_dot_08 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_13_bar__plus_01_dot_04_bar__minus_03_dot_18 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_36_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_54_bar__plus_00_dot_07_bar__minus_02_dot_49 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fd18cb345624bed21ab389aaba9af5c7b380a650 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190907_190403_681011/traj_data.json @@ -0,0 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+ { + "assignment_id": "A38Z99XF4NDNH0_3TU5ZICBRGIVPL2E07DHRCUPA2N8QQ", + "high_descs": [ + "Move to the left side of the sink where the counter top is", + "Pick up the yellow tube sitting on top of the counter top to the left of the sink", + "Move to the middle cabinet directly under the sink", + "Open the middle cupboard, place yellow tube in the cupboard then shut the cupboard" + ], + "task_desc": "Place a yellow tube in the cupboard", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3VNL7UK1XI0HWG4TPPDI69MYHDJTFQ", + "high_descs": [ + "turn around, walk to wall, turn right to face the sink", + "pick up the candle that is on the counter", + "turn around, turn back to face sink", + "put the candle in the cabinet under the sink" + ], + "task_desc": "put the candle from the counter in to the cabinet under the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3VP0C6EFSJDH0SLYFZ92QPETU776MO", + "high_descs": [ + "Turn around and face the sink on the left.", + "Pick the candle up from the counter.", + "Turn and move to the right to face the cabinet below the sink.", + "Put the candle in the middle cabinet under the sink." + ], + "task_desc": "Put a candle in a cabinet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e5ac8f443c6bd75d66e777d54d676755f8b3a340 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some candle on cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_060717_673544)\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_22_bar__plus_01_dot_05_bar__minus_03_dot_25 - object\n Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 - object\n Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 - object\n Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 - object\n Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object\n Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object\n HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object\n LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object\n Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object\n Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object\n ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object\n ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object\n ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object\n SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 - object\n SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 - object\n SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 - object\n SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 - object\n SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 - object\n SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 - object\n SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 - object\n SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 - object\n ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object\n ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 - object\n Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object\n Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle\n Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle\n Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle\n CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle\n GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle\n HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle\n Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle\n Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle\n TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle\n loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location\n loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location\n loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location\n loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location\n loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location\n loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType)\n (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType)\n (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType)\n (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType)\n (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 SoapBottleType)\n (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType)\n (objectType SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 SoapBarType)\n (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType)\n (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 ClothType)\n (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType)\n (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType)\n (objectType Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 ClothType)\n (objectType SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 SoapBarType)\n (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 SprayBottleType)\n (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType)\n (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType)\n (objectType SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 SoapBarType)\n (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType)\n (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType)\n (objectType Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 SprayBottleType)\n (objectType SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 SoapBottleType)\n (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType)\n (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 ToiletPaperType)\n (objectType Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 ClothType)\n (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 SoapBottleType)\n (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63)\n (pickupable SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98)\n (pickupable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55)\n (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62)\n (pickupable Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (pickupable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13)\n (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51)\n (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34)\n (pickupable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46)\n (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57)\n (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49)\n (pickupable Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25)\n (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96)\n (pickupable SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59)\n (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86)\n (pickupable Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45)\n (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77)\n \n (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n \n (atLocation agent1 loc_bar__minus_8_bar__minus_2_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01)\n (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55)\n (cleanable Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53)\n (cleanable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13)\n (cleanable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46)\n (cleanable Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25)\n (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25)\n (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81)\n (inReceptacle SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04)\n (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63)\n (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85)\n (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57)\n (inReceptacle SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin)\n (inReceptacle Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n (inReceptacle SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05)\n \n \n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30)\n (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 loc_bar__minus_5_bar__minus_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30)\n (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0)\n (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 loc_bar__minus_8_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_12_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_12_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CandleType)\n (receptacleType ?r CabinetType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take candle 1 from toilet 1", "go to cabinet 2", "open cabinet 1", "move candle 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cc02cf604666396ba7926f34409bc11ad47fb686 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Candle-None-Cabinet-418/trial_T20190908_060717_673544/initial_state.pddl @@ -0,0 +1,453 @@ + +(define (problem plan_trial_T20190908_060717_673544) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_22_bar__plus_01_dot_05_bar__minus_03_dot_25 - object + Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 - object + Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 - object + Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 - object + Faucet_bar__minus_00_dot_61_bar__plus_01_dot_94_bar__minus_00_dot_01 - object + Faucet_bar__minus_03_dot_00_bar__plus_01_dot_17_bar__minus_03_dot_07 - object + HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 - object + LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 - object + Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 - object + Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 - object + ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 - object + ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 - object + ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 - object + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 - object + SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 - object + SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 - object + SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 - object + SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 - object + SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 - object + SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 - object + SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 - object + SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 - object + ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 - object + ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 - object + Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 - object + Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 - object + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 - receptacle + Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 - receptacle + Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 - receptacle + CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 - receptacle + GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 - receptacle + HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 - receptacle + Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 - receptacle + Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 - receptacle + TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 - receptacle + loc_bar__minus_3_bar__minus_14_bar_2_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_30 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_14_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_2_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_0 - location + loc_bar__minus_7_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_11_bar_1_bar_30 - location + loc_bar__minus_3_bar__minus_14_bar_0_bar_60 - location + loc_bar__minus_8_bar__minus_10_bar_3_bar_0 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_3_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_14_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 ToiletPaperHangerType) + (receptacleType GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 ToiletType) + (receptacleType Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 CabinetType) + (receptacleType CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 CounterTopType) + (receptacleType HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 HandTowelHolderType) + (receptacleType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin SinkBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 TowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 CabinetType) + (objectType Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelType) + (objectType SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 SoapBottleType) + (objectType LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 LightSwitchType) + (objectType SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 SoapBarType) + (objectType Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 WindowType) + (objectType Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 ClothType) + (objectType ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 ToiletPaperType) + (objectType Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 MirrorType) + (objectType Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 ClothType) + (objectType SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 SoapBarType) + (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 SprayBottleType) + (objectType ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 ScrubBrushType) + (objectType Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 SinkType) + (objectType SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 SoapBarType) + (objectType HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelType) + (objectType Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 PlungerType) + (objectType Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 CandleType) + (objectType SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 SprayBottleType) + (objectType SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 SoapBottleType) + (objectType ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 ShowerDoorType) + (objectType ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 ToiletPaperType) + (objectType Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 ClothType) + (objectType SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 SoapBottleType) + (objectType ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 ShowerGlassType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63) + (pickupable SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98) + (pickupable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01) + (pickupable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55) + (pickupable ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62) + (pickupable Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53) + (pickupable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13) + (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51) + (pickupable ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34) + (pickupable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46) + (pickupable HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57) + (pickupable Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49) + (pickupable Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25) + (pickupable SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96) + (pickupable SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59) + (pickupable ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86) + (pickupable Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45) + (pickupable SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77) + + (openable Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (openable Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + + (atLocation agent1 loc_bar__minus_8_bar__minus_2_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01) + (cleanable Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55) + (cleanable Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53) + (cleanable SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13) + (cleanable SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46) + (cleanable Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25) + (inReceptacle Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25) + (inReceptacle SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81) + (inReceptacle SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04) + (inReceptacle Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63) + (inReceptacle ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85) + (inReceptacle HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57) + (inReceptacle SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin) + (inReceptacle SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin) + (inReceptacle Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + (inReceptacle SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05) + + + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_25 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_00_dot_32_bar__minus_03_dot_81 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_30_bar__plus_00_dot_35_bar__minus_02_dot_25 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_63_bar__plus_00_dot_84_bar__minus_03_dot_04 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_35_bar__plus_00_dot_00_bar__minus_03_dot_85 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_00_bar__plus_01_dot_69_bar__minus_03_dot_55 loc_bar__minus_8_bar__minus_14_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07_bar_SinkBasin loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_54 loc_bar__minus_5_bar__minus_11_bar_1_bar_30) + (receptacleAtLocation Toilet_bar__minus_00_dot_45_bar__plus_00_dot_00_bar__minus_03_dot_05 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_19_bar__plus_01_dot_37_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_96 loc_bar__minus_5_bar__minus_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_13_bar__plus_01_dot_05_bar__minus_02_dot_98 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_71_bar__plus_00_dot_81_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_85_bar__plus_00_dot_80_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_03_dot_59 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_70_bar__plus_00_dot_87_bar__minus_03_dot_01 loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_53_bar__plus_00_dot_81_bar__minus_02_dot_53 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation Mirror_bar__minus_03_dot_00_bar__plus_01_dot_66_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_0) + (objectAtLocation Sink_bar__minus_02_dot_66_bar__plus_00_dot_79_bar__minus_03_dot_07 loc_bar__minus_8_bar__minus_12_bar_3_bar_60) + (objectAtLocation ShowerGlass_bar__minus_00_dot_60_bar__plus_01_dot_10_bar__minus_01_dot_12 loc_bar__minus_7_bar__minus_4_bar_1_bar_30) + (objectAtLocation ShowerDoor_bar__minus_01_dot_18_bar__plus_01_dot_09_bar__minus_01_dot_22 loc_bar__minus_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__minus_03_dot_25 loc_bar__minus_3_bar__minus_14_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_02_dot_55 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_02_dot_96_bar__plus_01_dot_58_bar__minus_02_dot_57 loc_bar__minus_8_bar__minus_10_bar_3_bar_0) + (objectAtLocation Plunger_bar__minus_00_dot_13_bar__plus_00_dot_00_bar__minus_03_dot_49 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__minus_03_dot_13 loc_bar__minus_8_bar__minus_12_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_37_bar__plus_00_dot_05_bar__minus_03_dot_86 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_09_bar__plus_00_dot_84_bar__minus_02_dot_62 loc_bar__minus_5_bar__minus_11_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_57_bar__plus_01_dot_71_bar__minus_04_dot_00 loc_bar__minus_3_bar__minus_14_bar_2_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_29_bar__plus_01_dot_39_bar__minus_00_dot_63 loc_bar__minus_7_bar__minus_3_bar_1_bar_30) + (objectAtLocation SoapBottle_bar__minus_02_dot_62_bar__plus_00_dot_81_bar__minus_03_dot_77 loc_bar__minus_7_bar__minus_12_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_02_dot_76_bar__plus_00_dot_07_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_12_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_03_dot_34 loc_bar__minus_3_bar__minus_14_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_01_dot_95_bar__plus_01_dot_50_bar__plus_00_dot_00 loc_bar__minus_7_bar__minus_2_bar_0_bar_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CandleType) + (receptacleType ?r CabinetType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"assignment_id": "A13OOAT2ORKH6V_3J4Q2Z4UT1K6FMYWYATN5SXBSBAQWB", + "high_descs": [ + "Walk straight to the wall, turn left to face the toilet.", + "Take the candle on top of the toilet.", + "Turn around to face the cabinet.", + "Open the cabinet, place the candle into the cabinet and close the cabinet door." + ], + "task_desc": "Place a candle in the cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3LBXNTKX0UCFCNM0RDENLGLTRDDX9Q", + "high_descs": [ + "Move to the right of the toilet to the right of the shower", + "pick up a candle from the toilet", + "move to the sink behind you", + "put the candle in a cabinet under the sink" + ], + "task_desc": "Put a candle in a cabinet under the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3SKEMFQBZ6M9EI4JN2TKVQIGBYH8KO", + "high_descs": [ + "Walk forward then turn left to face the toilet", + "Pick up the candle from the top of the toilet", + "Turn around and walk up to the bathroom counter", + "Open the cabinet directly under the sink and put the candle in it" + ], + "task_desc": "Put the candle in the bathroom cabinet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5b179e4fb9626eae4685cf0622734189912c522d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some cellphone on bed.\"\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_012648_481210)\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_43_bar__plus_00_dot_94_bar__minus_01_dot_91 - object\n Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object\n Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 - object\n CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 - object\n CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object\n CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 - object\n DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 - object\n Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 - object\n Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 - object\n LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object\n LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object\n Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object\n Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 - object\n Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 - object\n Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 - object\n Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 - object\n Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object\n TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object\n Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object\n Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle\n Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle\n GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle\n LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle\n Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle\n SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_30 - location\n loc_bar_12_bar_0_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_12_bar_0_bar_0_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_30 - location\n loc_bar_12_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar_12_bar_1_bar_0_bar_60 - location\n loc_bar_11_bar_2_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType)\n (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType)\n (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType)\n (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType)\n (objectType CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 CreditCardType)\n (objectType KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 KeyChainType)\n (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType)\n (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType)\n (objectType Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 BookType)\n (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType)\n (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType)\n (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 CellPhoneType)\n (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 PencilType)\n (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType)\n (objectType Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType)\n (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType)\n (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 PenType)\n (objectType CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 CDType)\n (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType)\n (objectType Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 LaptopType)\n (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType)\n (objectType AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 AlarmClockType)\n (objectType Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 PencilType)\n (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType)\n (objectType Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22)\n (pickupable KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11)\n (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76)\n (pickupable Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23)\n (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59)\n (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15)\n (pickupable Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35)\n (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93)\n (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59)\n (pickupable CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91)\n (pickupable Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76)\n (pickupable AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91)\n (pickupable Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88)\n (pickupable Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48)\n \n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16)\n \n (atLocation agent1 loc_bar_11_bar_2_bar_1_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (inReceptacle Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30)\n (objectAtLocation CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r BedType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to desk 1", "take cellphone 1 from desk 1", "go to bed 1", "move cellphone 1 to bed 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..239a77cf5930ed7f488bd188b50035e81f3040e1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/initial_state.pddl @@ -0,0 +1,451 @@ + +(define (problem plan_trial_T20190909_012648_481210) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_43_bar__plus_00_dot_94_bar__minus_01_dot_91 - object + Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object + Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 - object + CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 - object + CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object + CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 - object + DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object + KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 - object + Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 - object + Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 - object + LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object + LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object + Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object + Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 - object + Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 - object + Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 - object + Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 - object + Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object + TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object + Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object + Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle + GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle + LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle + Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_3_bar_0_bar_30 - location + loc_bar_12_bar_0_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_12_bar_0_bar_0_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_30 - location + loc_bar_12_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_12_bar_1_bar_0_bar_60 - location + loc_bar_11_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType) + (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType) + (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType) + (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType) + (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType) + (objectType CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 CreditCardType) + (objectType KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 KeyChainType) + (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType) + (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType) + (objectType Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 BookType) + (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType) + (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType) + (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 CellPhoneType) + (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 PencilType) + (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType) + (objectType Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType) + (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType) + (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 PenType) + (objectType CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 CDType) + (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType) + (objectType Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 LaptopType) + (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType) + (objectType AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 AlarmClockType) + (objectType Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 PencilType) + (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType) + (objectType Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22) + (pickupable KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11) + (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76) + (pickupable Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23) + (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59) + (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15) + (pickupable Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35) + (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93) + (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59) + (pickupable CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91) + (pickupable Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76) + (pickupable AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91) + (pickupable Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88) + (pickupable Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48) + + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16) + + (atLocation agent1 loc_bar_11_bar_2_bar_1_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (inReceptacle Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + + + (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_15 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_88 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_91_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_03_bar__plus_00_dot_38_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30) + (objectAtLocation CD_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0) + (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r BedType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..8b347a39355809de42641e70b36bb897c86b46c2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012648_481210/traj_data.json @@ -0,0 +1,3390 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000011.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000012.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000013.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000019.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000020.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000021.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000022.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000023.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000024.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000025.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000026.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000027.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000028.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000029.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000030.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000031.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000032.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000033.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000034.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000035.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000036.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000037.png", + "low_idx": 5 + }, + { + "high_idx": 0, + "image_name": "000000038.png", + "low_idx": 5 + }, + { + "high_idx": 0, + "image_name": "000000039.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000040.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000041.png", + "low_idx": 7 + }, + { + "high_idx": 0, + "image_name": "000000042.png", + "low_idx": 7 + }, + 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the desk.", + "Pick up the phone that's in front of you on the desk.", + "Turn left and take a step to your left then walk to the foot of the bed and take a step to your right.", + "Put the phone on the bed please." + ], + "task_desc": "Put a phone on the bed.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A38Z99XF4NDNH0_3LS2AMNW5IH6V2BS3WRUPK4RJ20QO7", + "high_descs": [ + "Turn around then head to the right side of the wood desk against the wall", + "Pick up the phone on top of the desk", + "Carry the phone over to the bed in the corner of the room", + "Place the phone on top of the bed in the middle" + ], + "task_desc": "Move a phone to the bed", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3VW6495TLMRRYI6G0THM4X5VWL9YYM", + "high_descs": [ + "Turn around and cross the room and go left to stand in front of the desk.", + "Pick the phone up from the desk.", + "Go left and face the end of the bed.", + "Put the phone on the bed." + ], + "task_desc": "Put a phone on a bed.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0423de3fa28c91ee18824f7bd14267ccbb6c6b2b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put some cellphone on bed.\"\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_012707_174038)\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_96_bar__plus_00_dot_94_bar__minus_01_dot_88 - object\n AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 - object\n Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object\n Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 - object\n CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 - object\n CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 - object\n CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 - object\n CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 - object\n CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 - object\n Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object\n CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 - object\n CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 - object\n CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 - object\n DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 - object\n Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 - object\n Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 - object\n LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object\n LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object\n Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object\n Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 - object\n Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 - object\n Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 - object\n Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 - object\n Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object\n TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object\n Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object\n Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle\n Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle\n GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle\n LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle\n Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle\n SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_30 - location\n loc_bar_12_bar_0_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_12_bar_0_bar_0_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_30 - location\n loc_bar_12_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar_12_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType)\n (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType)\n (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType)\n (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType)\n (objectType Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 PencilType)\n (objectType CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 CreditCardType)\n (objectType Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 LaptopType)\n (objectType Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 PencilType)\n (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType)\n (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType)\n (objectType CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 CreditCardType)\n (objectType CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 CellPhoneType)\n (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType)\n (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType)\n (objectType KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 KeyChainType)\n (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType)\n (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 PencilType)\n (objectType Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType)\n (objectType CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 CellPhoneType)\n (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType)\n (objectType Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 BookType)\n (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType)\n (objectType AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 AlarmClockType)\n (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType)\n (objectType CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 CellPhoneType)\n (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 PenType)\n (objectType CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 CDType)\n (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType)\n (objectType AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 AlarmClockType)\n (objectType CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91)\n (pickupable CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91)\n (pickupable CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40)\n (pickupable Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38)\n (pickupable Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19)\n (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76)\n (pickupable CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31)\n (pickupable CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48)\n (pickupable KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19)\n (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11)\n (pickupable Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35)\n (pickupable CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33)\n (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93)\n (pickupable Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35)\n (pickupable AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31)\n (pickupable CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27)\n (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59)\n (pickupable CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48)\n (pickupable AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88)\n (pickupable CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94)\n \n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16)\n \n (atLocation agent1 loc_bar_4_bar__minus_1_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73)\n \n \n \n \n (inReceptacle CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (inReceptacle CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (inReceptacle CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19)\n (inReceptacle CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar__minus_1_bar_0_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r BedType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take cellphone 2 from shelf 1", "go to bed 1", "move cellphone 2 to bed 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cc89534c363567ffcb9cdd3d2caf09736d881025 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/initial_state.pddl @@ -0,0 +1,481 @@ + +(define (problem plan_trial_T20190909_012707_174038) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_96_bar__plus_00_dot_94_bar__minus_01_dot_88 - object + AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 - object + Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object + Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 - object + CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 - object + CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 - object + CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 - object + CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 - object + CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 - object + Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object + CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 - object + CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 - object + CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 - object + DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object + KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 - object + Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 - object + Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 - object + LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object + LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object + Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object + Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 - object + Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 - object + Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 - object + Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 - object + Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object + TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object + Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object + Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle + GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle + LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle + Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_3_bar_0_bar_30 - location + loc_bar_12_bar_0_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_12_bar_0_bar_0_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_30 - location + loc_bar_12_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_12_bar_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType) + (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType) + (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType) + (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType) + (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType) + (objectType Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 PencilType) + (objectType CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 CellPhoneType) + (objectType CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 CreditCardType) + (objectType Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 LaptopType) + (objectType Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 PencilType) + (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType) + (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType) + (objectType CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 CreditCardType) + (objectType CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 CellPhoneType) + (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType) + (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType) + (objectType KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 KeyChainType) + (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType) + (objectType Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 PencilType) + (objectType Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType) + (objectType CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 CellPhoneType) + (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType) + (objectType Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 BookType) + (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType) + (objectType AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 AlarmClockType) + (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType) + (objectType CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 CellPhoneType) + (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 PenType) + (objectType CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 CDType) + (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType) + (objectType AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 AlarmClockType) + (objectType CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 CreditCardType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91) + (pickupable CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91) + (pickupable CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40) + (pickupable Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38) + (pickupable Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19) + (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76) + (pickupable CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31) + (pickupable CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48) + (pickupable KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19) + (pickupable Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11) + (pickupable Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35) + (pickupable CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33) + (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93) + (pickupable Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35) + (pickupable AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31) + (pickupable CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27) + (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59) + (pickupable CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48) + (pickupable AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88) + (pickupable CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94) + + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16) + + (atLocation agent1 loc_bar_4_bar__minus_1_bar_0_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73) + + + + + (inReceptacle CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (inReceptacle CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (inReceptacle CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19) + (inReceptacle CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + + + (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_80_bar__plus_00_dot_89_bar__minus_01_dot_38 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_67_bar__plus_00_dot_53_bar__plus_01_dot_27 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_01_dot_31 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_94_bar__minus_01_dot_94 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Pencil_bar__plus_00_dot_25_bar__plus_00_dot_95_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_88_bar__plus_00_dot_38_bar__minus_01_dot_33 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_96_bar__plus_00_dot_38_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__plus_02_dot_05_bar__plus_00_dot_78_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_96_bar__plus_00_dot_94_bar__minus_01_dot_88 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Pencil_bar__plus_02_dot_44_bar__plus_00_dot_53_bar__plus_01_dot_19 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_51_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_28_bar__plus_00_dot_53_bar__plus_01_dot_19 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_28_bar__plus_00_dot_52_bar__plus_01_dot_31 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30) + (objectAtLocation CD_bar__minus_01_dot_11_bar__plus_00_dot_09_bar__minus_01_dot_48 loc_bar__minus_1_bar_0_bar_2_bar_45) + (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0) + (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r BedType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7592d287fe76835fbfb85b4fd95cfe1c10e6fd87 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012707_174038/traj_data.json @@ -0,0 +1,3429 @@ +{ + "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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slightly above it to the left." + ], + "task_desc": "Put a phone on the bed.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3OUYGIZWRAP0S9IU1YAUZEIZG3RP0I", + "high_descs": [ + "Turn around and walk up to the shelf by the window", + "Pick up the cell phone from the shelf", + "Turn left to face the bed", + "Put the cell phone on the bed" + ], + "task_desc": "Put the cell phone on the bed", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1c844c43f76880f5f07f6f3b8f118d2f96a068b0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/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 cellphone in bed.\"\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_012724_686117)\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_44_bar__plus_00_dot_52_bar__plus_01_dot_23 - object\n AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 - object\n AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 - object\n Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object\n Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 - object\n Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 - object\n Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 - object\n CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 - object\n CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 - object\n CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 - object\n CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 - object\n CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 - object\n Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object\n CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 - object\n CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 - object\n DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object\n KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 - object\n Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 - object\n Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 - object\n LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object\n LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object\n Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object\n Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 - object\n Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 - object\n Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 - object\n Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 - object\n Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object\n TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object\n Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object\n Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle\n Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle\n Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle\n Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle\n GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle\n LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle\n Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle\n SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle\n loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location\n loc_bar_2_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar_10_bar_3_bar_0_bar_30 - location\n loc_bar_12_bar_0_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location\n loc_bar_12_bar_0_bar_0_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar_0 - location\n loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_3_bar_2_bar_30 - location\n loc_bar_12_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_0_bar_2_bar_45 - location\n loc_bar_5_bar_3_bar_1_bar_60 - location\n loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location\n loc_bar_12_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType)\n (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType)\n (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType)\n (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType)\n (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType)\n (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType)\n (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType)\n (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType)\n (objectType CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 CellPhoneType)\n (objectType Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType)\n (objectType KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 KeyChainType)\n (objectType CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 CreditCardType)\n (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 AlarmClockType)\n (objectType Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 PencilType)\n (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType)\n (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType)\n (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType)\n (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType)\n (objectType Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 LaptopType)\n (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType)\n (objectType CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 CreditCardType)\n (objectType Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 PencilType)\n (objectType CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 CDType)\n (objectType CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 CellPhoneType)\n (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 BookType)\n (objectType Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 PenType)\n (objectType Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 PenType)\n (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType)\n (objectType Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 BookType)\n (objectType AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 AlarmClockType)\n (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType)\n (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType)\n (objectType CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 CellPhoneType)\n (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 AlarmClockType)\n (objectType Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 BookType)\n (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType)\n (objectType CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 CellPhoneType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (pickupable CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48)\n (pickupable Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35)\n (pickupable KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11)\n (pickupable CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68)\n (pickupable AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40)\n (pickupable Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68)\n (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76)\n (pickupable Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91)\n (pickupable CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83)\n (pickupable Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85)\n (pickupable CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48)\n (pickupable CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27)\n (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43)\n (pickupable Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31)\n (pickupable Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23)\n (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93)\n (pickupable Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76)\n (pickupable AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23)\n (pickupable CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94)\n (pickupable AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22)\n (pickupable Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61)\n (pickupable CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91)\n \n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19)\n (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19)\n (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16)\n \n (atLocation agent1 loc_bar_4_bar_0_bar_3_bar_30)\n \n \n \n \n \n \n \n (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73)\n \n \n \n \n (inReceptacle Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53)\n (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19)\n (inReceptacle CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19)\n (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19)\n (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23)\n (inReceptacle Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91)\n (inReceptacle Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06)\n \n \n (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60)\n (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 loc_bar__minus_1_bar_0_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45)\n (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 loc_bar_1_bar__minus_3_bar_2_bar_30)\n (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 loc_bar_2_bar__minus_4_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_3_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30)\n (objectAtLocation CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 loc_bar__minus_3_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0)\n (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r BedType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 1", "take cellphone 3 from shelf 1", "go to bed 1", "move cellphone 3 to bed 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..65b0466af8a91dbea7f7fe7d9415c2e6aba91fa7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/initial_state.pddl @@ -0,0 +1,491 @@ + +(define (problem plan_trial_T20190909_012724_686117) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_44_bar__plus_00_dot_52_bar__plus_01_dot_23 - object + AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 - object + AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 - object + Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 - object + Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 - object + Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 - object + Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 - object + CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 - object + CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 - object + CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 - object + CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 - object + CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 - object + Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 - object + CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 - object + CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 - object + DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 - object + KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 - object + Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 - object + Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 - object + LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 - object + LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 - object + Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 - object + Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 - object + Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 - object + Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 - object + Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 - object + Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 - object + TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 - object + Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 - object + Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 - receptacle + Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 - receptacle + Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 - receptacle + GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 - receptacle + LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 - receptacle + Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 - receptacle + loc_bar__minus_3_bar__minus_1_bar_2_bar_45 - location + loc_bar_2_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_2_bar_2_bar_60 - location + loc_bar_10_bar_3_bar_0_bar_30 - location + loc_bar_12_bar_0_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_2_bar_45 - location + loc_bar_12_bar_0_bar_0_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar_0 - location + loc_bar__minus_3_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_3_bar_2_bar_30 - location + loc_bar_12_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_0_bar_2_bar_45 - location + loc_bar_5_bar_3_bar_1_bar_60 - location + loc_bar_3_bar__minus_6_bar_2_bar__minus_30 - location + loc_bar_12_bar_1_bar_0_bar_60 - location + loc_bar_4_bar_0_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 DrawerType) + (receptacleType Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 BedType) + (receptacleType Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 ShelfType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 SideTableType) + (receptacleType LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 LaundryHamperType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 DrawerType) + (receptacleType Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 DeskType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 DrawerType) + (receptacleType GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 GarbageCanType) + (objectType CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 CellPhoneType) + (objectType Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 LaptopType) + (objectType KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 KeyChainType) + (objectType CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 CreditCardType) + (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 AlarmClockType) + (objectType Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 PencilType) + (objectType TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 TeddyBearType) + (objectType LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 LaundryHamperLidType) + (objectType LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 LightSwitchType) + (objectType DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 DeskLampType) + (objectType Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 LaptopType) + (objectType Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 WindowType) + (objectType CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 CreditCardType) + (objectType Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 PencilType) + (objectType CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 CDType) + (objectType CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 CellPhoneType) + (objectType Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 BookType) + (objectType Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 PenType) + (objectType Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 PenType) + (objectType Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 PillowType) + (objectType Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 BookType) + (objectType AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 AlarmClockType) + (objectType Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 BlindsType) + (objectType Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 MirrorType) + (objectType CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 CellPhoneType) + (objectType AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 AlarmClockType) + (objectType Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 BookType) + (objectType Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 ChairType) + (objectType CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 CellPhoneType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48) + (pickupable Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35) + (pickupable KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11) + (pickupable CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68) + (pickupable AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40) + (pickupable Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68) + (pickupable TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76) + (pickupable Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91) + (pickupable CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83) + (pickupable Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85) + (pickupable CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48) + (pickupable CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27) + (pickupable Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43) + (pickupable Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31) + (pickupable Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23) + (pickupable Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93) + (pickupable Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76) + (pickupable AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23) + (pickupable CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94) + (pickupable AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22) + (pickupable Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61) + (pickupable CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91) + + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19) + (openable Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16) + + (atLocation agent1 loc_bar_4_bar_0_bar_3_bar_30) + + + + + + + + (toggleable DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73) + + + + + (inReceptacle Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53) + (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19) + (inReceptacle CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19) + (inReceptacle Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19) + (inReceptacle Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23) + (inReceptacle Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91) + (inReceptacle Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + (inReceptacle TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06) + + + (receptacleAtLocation Bed_bar__plus_02_dot_32_bar__plus_00_dot_00_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Desk_bar__minus_00_dot_53_bar_00_dot_00_bar__minus_01_dot_53 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_13_bar__plus_01_dot_16 loc_bar_12_bar_0_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_36_bar__plus_01_dot_16 loc_bar_12_bar_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_21_bar__minus_01_dot_19 loc_bar__minus_1_bar_0_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_49_bar__minus_01_dot_19 loc_bar__minus_2_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_94_bar__plus_00_dot_73_bar__minus_01_dot_19 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_39_bar__plus_00_dot_00_bar__minus_00_dot_03 loc_bar_12_bar_0_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__plus_00_dot_30_bar__plus_00_dot_01_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_01_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_32_bar__plus_00_dot_94_bar__minus_01_dot_83 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_03_dot_15_bar__plus_00_dot_77_bar__minus_01_dot_35 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_60_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_02_dot_21_bar__plus_00_dot_53_bar__plus_01_dot_27 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_40 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_12_bar__plus_00_dot_90_bar__minus_01_dot_31 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__plus_02_dot_88_bar__plus_00_dot_78_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_44_bar__plus_00_dot_52_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_33_bar__plus_00_dot_78_bar__minus_00_dot_61 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_10_bar__minus_01_dot_48 loc_bar__minus_1_bar_0_bar_2_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_61_bar__plus_00_dot_94_bar__minus_01_dot_91 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation LaundryHamperLid_bar__plus_00_dot_30_bar__plus_00_dot_48_bar__minus_01_dot_52 loc_bar_3_bar__minus_6_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_29_bar__plus_00_dot_02_bar__minus_01_dot_11 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_96_bar__plus_00_dot_65_bar__minus_01_dot_43 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_12_bar__plus_00_dot_89_bar__minus_01_dot_73 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_03_dot_51_bar__plus_01_dot_25_bar__plus_00_dot_17 loc_bar_12_bar_1_bar_1_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_59_bar__plus_00_dot_53_bar__plus_01_dot_23 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_00_dot_95_bar__plus_00_dot_90_bar__minus_01_dot_22 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation TeddyBear_bar__plus_01_dot_32_bar__plus_00_dot_83_bar__minus_00_dot_76 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_78_bar__plus_00_dot_94_bar__minus_01_dot_94 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Pencil_bar__plus_00_dot_78_bar__plus_00_dot_95_bar__minus_01_dot_85 loc_bar_1_bar__minus_3_bar_2_bar_30) + (objectAtLocation Pillow_bar__plus_03_dot_17_bar__plus_00_dot_80_bar__minus_00_dot_93 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_78_bar__plus_00_dot_77_bar__minus_00_dot_91 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_51_bar__plus_00_dot_53_bar__plus_01_dot_11 loc_bar_5_bar_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_3_bar__minus_3_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_02_dot_41_bar__plus_01_dot_30_bar__plus_01_dot_40 loc_bar_10_bar_3_bar_0_bar_30) + (objectAtLocation CD_bar__minus_01_dot_11_bar__plus_00_dot_65_bar__minus_01_dot_48 loc_bar__minus_3_bar__minus_1_bar_2_bar_45) + (objectAtLocation Window_bar__plus_00_dot_72_bar__plus_01_dot_60_bar__minus_02_dot_11 loc_bar_3_bar__minus_6_bar_2_bar_0) + (objectAtLocation Blinds_bar__plus_00_dot_75_bar__plus_02_dot_52_bar__minus_02_dot_02 loc_bar_3_bar__minus_6_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r BedType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..addcc90c8fb7c455c0bab56f8de39553d9e6d161 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-Bed-306/trial_T20190909_012724_686117/traj_data.json @@ -0,0 +1,3391 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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{ + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_ee5e4cc1", + "position": { + "x": -0.9486277, + "y": 0.8973799, + "z": -1.403059 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "TeddyBear_489a147e", + "position": { + "x": 1.324, + "y": 0.827, + "z": -0.763 + }, + "rotation": { + "x": 56.8348579, + "y": 332.6928, + "z": 298.2369 + } + }, + { + "objectName": "CellPhone_9a76c52e", + "position": { + "x": 2.20541048, + "y": 0.5266987, + "z": 1.27212 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c1c45848", + "position": { + "x": -0.6005821, + "y": 0.899340868, + "z": -1.6807338 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_4b867beb", + "position": { + "x": 3.17396951, + "y": 0.804, + "z": -0.9324259 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_b256e6c5", + "position": { + "x": 3.15263438, + "y": 0.774894238, + "z": -1.35413754 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_bbb9520a", + "position": { + "x": 2.51419616, + "y": 0.525007665, + "z": 1.1108743 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_e181bf88", + "position": { + "x": 1.31590581, + "y": 0.9418078, + "z": -1.82670033 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_79b58b60", + "position": { + "x": -1.10689569, + "y": 0.6506521, + "z": -1.48280168 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3855486077, + "scene_num": 306 + }, + "task_id": "trial_T20190909_012724_686117", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_32ZKVD547IEU57GH1GAC6SBH2AJB3Z", + "high_descs": [ + "Turn right then head straight to the window", + "Pick up the phone on the right side", + "Turn around on your left face the end of the bed", + "Put the phone in front of the laptop on the bed" + ], + "task_desc": "Put the phone on the bed", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_35GCEFQ6I8FQN5JX7UQFSAIKTD83Z0", + "high_descs": [ + "Turn to your left and go to the window ledge between the desk and the bed. ", + "Pick up the cell phone on the left, behind the pencil. ", + "Turn to the bed on your left. ", + "Toss the cell phone on the bed, to the right of the computer. " + ], + "task_desc": "Put a cell phone on the bed. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A31681CCEVDIH3_3WAKVUDHUZ7R2PQA3JUXOZFLWX3U7V", + "high_descs": [ + "Make a left and move to the window seat.", + "Pick up the smartphone above the blue pencil.", + "Turn left and walk to the bed.", + "Set the smartphone down next to the laptop closest to the stuffed animal." + ], + "task_desc": "Put a smartphone next to a laptop on the bed.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5c9c23b5fa72868de477a96720d9397ae85ec895 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/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 cellphone in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_234652_764208)\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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 - object\n Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 - 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_12_bar__plus_00_dot_22_bar__minus_01_dot_49 - object\n CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 - object\n CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 - object\n CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 - object\n CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 - 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_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 - object\n CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 - 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_02_dot_08 - object\n KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 - 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_60_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 - object\n Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63 - object\n Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 - object\n Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 - 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_3_bar_5_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 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__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 KeyChainType)\n (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 AlarmClockType)\n (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 BookType)\n (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType)\n (objectType CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 CDType)\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 CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 CDType)\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 Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63 PenType)\n (objectType Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 BowlType)\n (objectType CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType)\n (objectType Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 PencilType)\n (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 CreditCardType)\n (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 KeyChainType)\n (objectType CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 CellPhoneType)\n (objectType Pencil_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 PencilType)\n (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 CDType)\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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 PenType)\n (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 CellPhoneType)\n (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 CellPhoneType)\n (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\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 KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60)\n (pickupable AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49)\n (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63)\n (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29)\n (pickupable Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54)\n (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51)\n (pickupable KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Pencil_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40)\n (pickupable Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77)\n (pickupable CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25)\n (pickupable CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08)\n (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\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_63)\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_3_bar_5_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_20_bar__plus_00_dot_97_bar__minus_01_dot_63)\n \n \n (coolable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63)\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 CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__minus_00_dot_49_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 KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle CD_bar__minus_00_dot_58_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 CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 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 CreditCard_bar__plus_02_dot_34_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 CreditCard_bar__plus_02_dot_11_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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\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 Pen_bar__plus_00_dot_40_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 Bowl_bar__plus_00_dot_20_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 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 Pencil_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 Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_01_dot_70_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 CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_00_dot_90_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_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)\n (inReceptacle CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 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_63 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pencil_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 CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar__minus_3_bar__minus_2_bar_2_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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 loc_bar_5_bar__minus_5_bar_0_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_39_bar__plus_00_dot_42_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_1_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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_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_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 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__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_63 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_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take cellphone 3 from bed 1", "go to sidetable 1", "move cellphone 3 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..10c6fc80a688176136edde3cb8a86628299b266e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/initial_state.pddl @@ -0,0 +1,602 @@ + +(define (problem plan_trial_T20190909_234652_764208) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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 + AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 - object + Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 - object + Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 - object + CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 - object + CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 - object + CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 - object + CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 - object + CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 - object + CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 - 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_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 - object + CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 - 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_02_dot_08 - object + KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 - 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_60_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 - object + Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63 - object + Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 - 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_3_bar_5_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 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__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 KeyChainType) + (objectType AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 AlarmClockType) + (objectType Window_bar__minus_01_dot_44_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 BookType) + (objectType Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94 ClothType) + (objectType CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 CDType) + (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 CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 CDType) + (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 Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63 PenType) + (objectType Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63 BowlType) + (objectType CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType) + (objectType Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 PencilType) + (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 CreditCardType) + (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 KeyChainType) + (objectType CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71 PencilType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 CDType) + (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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 PenType) + (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 CellPhoneType) + (objectType CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 PillowType) + (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) + (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 Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60) + (pickupable AlarmClock_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59) + (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94) + (pickupable CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66) + (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50) + (pickupable CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable Pen_bar__plus_00_dot_40_bar__plus_00_dot_98_bar__minus_01_dot_63) + (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29) + (pickupable Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54) + (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51) + (pickupable KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08) + (pickupable CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25) + (pickupable Pencil_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_71) + (pickupable CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40) + (pickupable Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77) + (pickupable CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25) + (pickupable CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08) + (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (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_63) + (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_3_bar_5_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_20_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_63) + + + (toggleable DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44) + + + + + (inReceptacle CD_bar__plus_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pen_bar__minus_00_dot_49_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 KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle CD_bar__minus_00_dot_58_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 CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 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 CreditCard_bar__plus_02_dot_34_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 CreditCard_bar__plus_02_dot_11_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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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 Pen_bar__plus_00_dot_40_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 Bowl_bar__plus_00_dot_20_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 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 Pencil_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 Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle KeyChain_bar__plus_01_dot_70_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 CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__plus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_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_00_dot_90_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_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 CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 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_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_40 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_58_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (objectAtLocation CreditCard_bar__plus_02_dot_11_bar__plus_00_dot_57_bar__plus_01_dot_51 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 loc_bar_5_bar_4_bar_1_bar_60) + (objectAtLocation Pencil_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 CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_58_bar__plus_00_dot_41_bar__minus_01_dot_66 loc_bar__minus_3_bar__minus_2_bar_2_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_02_dot_14_bar__plus_00_dot_42_bar__plus_00_dot_59 loc_bar_5_bar__minus_5_bar_0_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_39_bar__plus_00_dot_42_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_21_bar__plus_00_dot_22_bar__minus_01_dot_54 loc_bar__minus_1_bar__minus_1_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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_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_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_25 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__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_63 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_00_dot_12_bar__plus_00_dot_22_bar__minus_01_dot_49 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_49_bar__plus_00_dot_81_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f30106049297b717e9b6e6dc3d8501e00b3f3b62 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234652_764208/traj_data.json @@ -0,0 +1,2288 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + 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center of the bed.", + "Turn around and face the wooden nightstand in the corner of the room to the left of the bed.", + "Place the smartphone on top of the nightstand between the red credit card and the CD." + ], + "task_desc": "Place a smartphone on the nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3IKZ72A5B77RMSL7O1GNYW08M10FNN", + "high_descs": [ + "walk to face bed", + "pick up cell phone from bed", + "walk to face night table to left of bed", + "put phone on night stand" + ], + "task_desc": "put phone on bedroom night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3M68NM076KYGIXKOGFU0DAS5U0X6RC", + "high_descs": [ + "Turn to the left, go to the bedside table, turn to the right to face the bed.", + "Pick up the cell phone that is closest to you.", + "Turn to the right, turn around and face the bedside table.", + "Put the cell phone down on the table between the credit card and the CD." + ], + "task_desc": "Put a cell phone on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7dcb2a139c3ccbb281a58b7ba1bca31756dc3a0a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/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 cellphone in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_234733_582011)\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_14_bar__plus_00_dot_57_bar__plus_01_dot_20 - 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_97_bar__minus_01_dot_56 - object\n Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n Book_bar__minus_00_dot_39_bar__plus_00_dot_04_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_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 - object\n CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 - object\n CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 - object\n CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - object\n CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 - object\n CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 - 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_20_bar__plus_00_dot_97_bar__minus_01_dot_48 - 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_48_bar__plus_00_dot_04_bar__minus_01_dot_98 - 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_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 - object\n Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 - object\n Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77 - object\n Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 - 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_2_bar_5_bar_1_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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77 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 CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 CDType)\n (objectType AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 AlarmClockType)\n (objectType CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 CreditCardType)\n (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 CellPhoneType)\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 Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 PencilType)\n (objectType CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 CellPhoneType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 CellPhoneType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 KeyChainType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 CellPhoneType)\n (objectType CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 CDType)\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 Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType)\n (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType)\n (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType)\n (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 BookType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType Book_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 BookType)\n (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 PillowType)\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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60)\n (pickupable AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20)\n (pickupable CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48)\n (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48)\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 Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71)\n (pickupable CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59)\n (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77)\n (pickupable CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48)\n (pickupable Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (pickupable CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66)\n (pickupable Book_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56)\n (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42)\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_2_bar_5_bar_1_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__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_12_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)\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 AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 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 CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 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 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 CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80)\n (inReceptacle CD_bar__plus_00_dot_00_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 Book_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 CellPhone_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 Pen_bar__minus_00_dot_49_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 KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (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)\n (inReceptacle Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_00_dot_90_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 CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Book_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 CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 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_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_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_00_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60)\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 AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 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__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 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_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 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__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__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 loc_bar_0_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_49_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 (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o CellPhoneType)\n (receptacleType ?r SideTableType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take cellphone 4 from dresser 1", "go to sidetable 1", "move cellphone 4 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..168a558dc5da8b703a091dba47a364c748e7b498 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-CellPhone-None-SideTable-317/trial_T20190909_234733_582011/initial_state.pddl @@ -0,0 +1,597 @@ + +(define (problem plan_trial_T20190909_234733_582011) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_14_bar__plus_00_dot_57_bar__plus_01_dot_20 - 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_97_bar__minus_01_dot_56 - object + Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 - object + Book_bar__minus_00_dot_39_bar__plus_00_dot_04_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_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 - object + CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 - object + CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 - object + CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - object + CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 - object + CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 - 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_20_bar__plus_00_dot_97_bar__minus_01_dot_48 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 - 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_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 - object + Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 - object + Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 - 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_2_bar_5_bar_1_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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77 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 CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 CDType) + (objectType AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 AlarmClockType) + (objectType CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 CreditCardType) + (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 CellPhoneType) + (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 Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 PencilType) + (objectType CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 CellPhoneType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 CellPhoneType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 KeyChainType) + (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType) + (objectType CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 CellPhoneType) + (objectType CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 CDType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType LaundryHamperLid_bar__minus_01_dot_61_bar__plus_00_dot_48_bar__minus_02_dot_06 LaundryHamperLidType) + (objectType Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType) + (objectType DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 DeskLampType) + (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType) + (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType) + (objectType CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType) + (objectType Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 BookType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (objectType Book_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56 BookType) + (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 PillowType) + (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 Pen_bar__minus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_77) + (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60) + (pickupable AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20) + (pickupable CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48) + (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48) + (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 Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71) + (pickupable CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59) + (pickupable CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85) + (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46) + (pickupable KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98) + (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (pickupable CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77) + (pickupable CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48) + (pickupable Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25) + (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19) + (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24) + (pickupable CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71) + (pickupable Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66) + (pickupable Book_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_56) + (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42) + (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_2_bar_5_bar_1_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__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle CD_bar__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_28_bar__minus_01_dot_63) + (inReceptacle Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_00_dot_12_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 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 AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 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 CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 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 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 CreditCard_bar__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 Dresser_bar__plus_00_dot_01_bar__plus_00_dot_00_bar__minus_01_dot_80) + (inReceptacle CD_bar__plus_00_dot_00_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 Book_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 CellPhone_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 Pen_bar__minus_00_dot_49_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 KeyChain_bar__plus_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (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 Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_00_dot_90_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 CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_30_bar__plus_00_dot_80_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (objectAtLocation CellPhone_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_66 loc_bar__minus_4_bar__minus_1_bar_2_bar_45) + (objectAtLocation Book_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 CellPhone_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45) + (objectAtLocation CD_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_48 loc_bar_1_bar__minus_4_bar_2_bar_60) + (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_01_dot_64_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_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_00_bar__plus_00_dot_97_bar__minus_01_dot_85 loc_bar_1_bar__minus_4_bar_2_bar_60) + (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 AlarmClock_bar__plus_02_dot_14_bar__plus_00_dot_57_bar__plus_01_dot_20 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__minus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_48 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_01_dot_48_bar__plus_00_dot_04_bar__minus_01_dot_98 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__plus_00_dot_42 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__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__plus_00_dot_49_bar__plus_00_dot_22_bar__minus_01_dot_60 loc_bar_0_bar__minus_1_bar_2_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_49_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 (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o CellPhoneType) + (receptacleType ?r SideTableType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.972299933, + "z": -1.48415256 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_de3ac205", + "position": { + "x": 1.48321724, + "y": 0.04132751, + "z": -1.97910821 + }, + "rotation": { + "x": 0.0, + "y": 178.075226, + "z": 0.0 + } + }, + { + "objectName": "Pillow_8c4a91fb", + "position": { + "x": 0.897547364, + "y": 0.477432, + "z": 0.419097781 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_3722a8eb", + "position": { + "x": 2.15, + "y": 0.433, + "z": -0.241 + }, + "rotation": { + "x": 0.0, + "y": 282.078857, + "z": 0.0 + } + }, + { + "objectName": "Laptop_bee5e5d1", + "position": { + "x": -0.5, + "y": 0.965303957, + "z": -1.715 + }, + "rotation": { + "x": 0.0, + "y": 24.1564865, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8fde142b", + "position": { + "x": 0.471582562, + "y": 0.965303957, + "z": -1.85630941 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_4184daa6", + "position": { + "x": -1.28804266, + "y": 0.0009266287, + "z": -1.93654728 + }, + "rotation": { + "x": 0.186394244, + "y": 357.341461, + "z": 356.93692 + } + }, + { + "objectName": "CD_4560e1b8", + "position": { + "x": 0.000876187347, + "y": 0.9704067, + "z": -1.70524311 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f62f2df7", + "position": { + "x": -0.48666808, + "y": 0.22354953, + "z": -1.768581 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2903431648, + "scene_num": 317 + }, + "task_id": "trial_T20190909_234733_582011", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A28Q5S6WK94WUN_3B2X28YI3Z6T2Q3ZKI8ADVN1CE06B5", + "high_descs": [ + "Go to the bed", + "pick up the cell phone sitting on the bed", + "turn towards the nightstand at the top of the bed", + "put the phone down on the nightstand" + ], + "task_desc": "move the phone from the bed to the nightstand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3I3WADAZ9TVH2GSUJ43RR990NI1O54", + "high_descs": [ + "Turn right and look at the bed.", + "Pick up the cell phone on the bed.", + "Turn left and walk to the nightstand.", + "Place the cell phone on the nightstand, near the front left corner." + ], + "task_desc": "Place a cell phone on a nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3ZDAD0O1T446HRHCLR8LD267FPYXTF", + "high_descs": [ + "Turn right to face the end of the bed ", + "Pick up the cell phone that is sitting on the bed to the right of the pillow", + "Turn left and walk toward the night stand that is to the left of the bed", + "Place the cell phone on the night stand to the left of the alarm clock that is to the left of the bed " + ], + "task_desc": "Place a cell phone on a 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-KeyChain-None-Desk-310/trial_T20190908_124631_281710/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..70e4aa710b07772ca9a7c4a4b04261783bfea106 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/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 keychain on desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_124631_281710)\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_40_bar__plus_01_dot_78_bar__minus_02_dot_04 - object\n BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object\n BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object\n Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object\n Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 - object\n Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object\n CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 - object\n CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 - object\n CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 - object\n CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 - object\n CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 - object\n CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 - object\n Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object\n CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 - object\n CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 - object\n KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 - object\n KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 - object\n KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 - object\n Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object\n Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 - object\n Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 - object\n LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object\n Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object\n Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 - object\n Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 - object\n Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object\n Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object\n TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object\n Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object\n Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle\n Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle\n SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location\n loc_bar_4_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_5_bar_3_bar_3_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar_5_bar__minus_5_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_5_bar_1_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType)\n (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType)\n (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType)\n (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType)\n (objectType CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 CellPhoneType)\n (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType)\n (objectType CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 CreditCardType)\n (objectType CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 CDType)\n (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 CDType)\n (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType)\n (objectType Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 PencilType)\n (objectType CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 CreditCardType)\n (objectType KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 KeyChainType)\n (objectType Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 LaptopType)\n (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType)\n (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType)\n (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 AlarmClockType)\n (objectType KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 KeyChainType)\n (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType)\n (objectType Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 PencilType)\n (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType)\n (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType)\n (objectType Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 PencilType)\n (objectType KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 KeyChainType)\n (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType)\n (objectType CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 CellPhoneType)\n (objectType CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 CellPhoneType)\n (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType)\n (objectType Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 PenType)\n (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType)\n (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType)\n (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType)\n (objectType CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 CDType)\n (objectType Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 BookType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (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_93_bar__plus_01_dot_35_bar__minus_02_dot_22)\n (pickupable CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05)\n (pickupable CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97)\n (pickupable CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16)\n (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36)\n (pickupable Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (pickupable CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19)\n (pickupable KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17)\n (pickupable Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60)\n (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22)\n (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04)\n (pickupable KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07)\n (pickupable Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82)\n (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03)\n (pickupable Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99)\n (pickupable KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07)\n (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (pickupable CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22)\n (pickupable CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12)\n (pickupable Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97)\n (pickupable Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42)\n (pickupable KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (pickupable CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03)\n (pickupable Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12)\n (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n \n (atLocation agent1 loc_bar__minus_2_bar__minus_2_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (inReceptacle CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (objectAtLocation Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60)\n (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_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 KeyChainType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take keychain 2 from sidetable 1", "go to desk 1", "move keychain 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..99cc024945ec18332f0388dfb4eb4d4dae93f76e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/initial_state.pddl @@ -0,0 +1,505 @@ + +(define (problem plan_trial_T20190908_124631_281710) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_01_dot_78_bar__minus_02_dot_04 - object + BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object + BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object + Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object + Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 - object + Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object + CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 - object + CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 - object + CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 - object + CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 - object + CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 - object + CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 - object + Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object + CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 - object + CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 - object + KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 - object + KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 - object + KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 - object + Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object + Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 - object + Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 - object + LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object + Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object + Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 - object + Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 - object + Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object + Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object + TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object + Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object + Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle + Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle + Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle + SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location + loc_bar_4_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar_5_bar__minus_5_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_5_bar_1_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType) + (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType) + (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType) + (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType) + (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType) + (objectType CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 CellPhoneType) + (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType) + (objectType CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 CreditCardType) + (objectType CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 CDType) + (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 CDType) + (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType) + (objectType Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 PencilType) + (objectType CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 CreditCardType) + (objectType KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 KeyChainType) + (objectType Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 LaptopType) + (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType) + (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType) + (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 AlarmClockType) + (objectType KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 KeyChainType) + (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType) + (objectType Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 PencilType) + (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType) + (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType) + (objectType Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 PencilType) + (objectType KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 KeyChainType) + (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType) + (objectType CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 CellPhoneType) + (objectType CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 CellPhoneType) + (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType) + (objectType Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 PenType) + (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType) + (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType) + (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType) + (objectType CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 CDType) + (objectType Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 BookType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BasketBallType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (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_93_bar__plus_01_dot_35_bar__minus_02_dot_22) + (pickupable CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05) + (pickupable CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97) + (pickupable CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16) + (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36) + (pickupable Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22) + (pickupable CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19) + (pickupable KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17) + (pickupable Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60) + (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22) + (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04) + (pickupable KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07) + (pickupable Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76) + (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82) + (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03) + (pickupable Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07) + (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (pickupable CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22) + (pickupable CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12) + (pickupable Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97) + (pickupable Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42) + (pickupable KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76) + (pickupable CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03) + (pickupable Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12) + (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + + (atLocation agent1 loc_bar__minus_2_bar__minus_2_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (inReceptacle CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + + + (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_16 loc_bar_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_17 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_58_bar__plus_00_dot_64_bar__plus_00_dot_60 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_87_bar__plus_01_dot_35_bar__minus_02_dot_07 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_17_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CD_bar__minus_01_dot_66_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (objectAtLocation Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__minus_00_dot_12 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0) + (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_67_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_01_dot_05 loc_bar_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30) + (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o KeyChainType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..7d1c84307f5700f3b00cc0b8bf8e93969c793b89 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124631_281710/traj_data.json @@ -0,0 +1,2699 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000011.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000012.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000013.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000019.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000020.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000021.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000022.png", + "low_idx": 4 + }, + { + "high_idx": 0, 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"position": { + "x": 0.5847938, + "y": 0.6474927, + "z": -0.1203123 + }, + "rotation": { + "x": 0.0, + "y": -2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_de7db8d2", + "position": { + "x": -1.667, + "y": 0.0, + "z": 0.818 + }, + "rotation": { + "x": 90.0, + "y": 29.999939, + "z": 0.0 + } + }, + { + "objectName": "Laptop_f5306a34", + "position": { + "x": 0.5847936, + "y": 0.6436545, + "z": 0.5983121 + }, + "rotation": { + "x": 0.0, + "y": -2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "Pencil_b9e0bc7f", + "position": { + "x": 1.80726135, + "y": 0.6842912, + "z": -0.9879998 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_90079c68", + "position": { + "x": -1.03323412, + "y": 1.34753752, + "z": -2.172978 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_610c6ee4", + "position": { + "x": -0.24437952, + "y": 0.837996, + "z": -2.18582034 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_1962be34", + "position": { + "x": 1.61593151, + "y": 0.08212367, + "z": -1.15903783 + }, + "rotation": { + "x": 0.0, + "y": 89.99995, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3489499496, + "scene_num": 310 + }, + "task_id": "trial_T20190908_124631_281710", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_323Q6SJS8L7ZCWZWL3LATC3C09XFHO", + "high_descs": [ + "Look up top of the desk.", + "Pick up the keys from the right shelf.", + "Carry the keys and take a few steps left, then turn and face the desk to the right.", + "Place the keys on the desk area, to the closest side." + ], + "task_desc": "Move keys from the shelf to the desk.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2Z43TA0WZ0EG0_3RU7GD8VPRK0TI26A0TE9KOIBQ3SPR", + "high_descs": [ + "Walk forward to the brown desk.", + "Take the keys from the open cabinet door on the right side.", + "Walk to the left away from the desk toward the door, turn around, walk back to the desk.", + "Place they keys on the desk. " + ], + "task_desc": "Get the keys from the cabinet and place them onto the desk. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3X4MXAO0BJFECCZU7X74B4RIILWRW6", + "high_descs": [ + "go to the desk", + "take the keys from the right cabinet", + "walk around to the left side of the desk", + "set the keys on the desk" + ], + "task_desc": "take the keys from the desk cabinet and place them on the desk", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..dc77e33932e4999d385558039baecc111f891b78 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/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 keychain on desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_124646_907558)\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_40_bar__plus_01_dot_78_bar__minus_02_dot_28 - object\n BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object\n BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object\n Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object\n Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 - object\n Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 - object\n Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 - object\n Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object\n CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 - object\n CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 - object\n CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 - object\n CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 - object\n CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 - object\n CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 - object\n Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object\n CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 - object\n KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 - object\n KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 - object\n Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object\n Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 - object\n LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object\n Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object\n Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 - object\n Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 - object\n Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 - object\n Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 - object\n Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 - object\n Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object\n TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object\n Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object\n Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle\n Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle\n SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location\n loc_bar_5_bar__minus_5_bar_1_bar_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_2_bar__minus_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType)\n (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType)\n (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType)\n (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType)\n (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 CDType)\n (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType)\n (objectType CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 CDType)\n (objectType Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 BookType)\n (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 PillowType)\n (objectType Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 PenType)\n (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType)\n (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType)\n (objectType KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 KeyChainType)\n (objectType Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 PencilType)\n (objectType Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType)\n (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 PillowType)\n (objectType CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 CreditCardType)\n (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType)\n (objectType CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 CellPhoneType)\n (objectType KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 KeyChainType)\n (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType)\n (objectType Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 BookType)\n (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType)\n (objectType CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 CDType)\n (objectType Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 LaptopType)\n (objectType CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 CellPhoneType)\n (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType)\n (objectType Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 PencilType)\n (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType)\n (objectType CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 CellPhoneType)\n (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 AlarmClockType)\n (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType)\n (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (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 CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05)\n (pickupable CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23)\n (pickupable Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42)\n (pickupable Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42)\n (pickupable Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28)\n (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36)\n (pickupable KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14)\n (pickupable Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12)\n (pickupable Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22)\n (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06)\n (pickupable CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98)\n (pickupable CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03)\n (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27)\n (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82)\n (pickupable Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08)\n (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03)\n (pickupable CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13)\n (pickupable Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78)\n (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07)\n (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (pickupable Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99)\n (pickupable CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83)\n (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28)\n (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n \n (atLocation agent1 loc_bar_2_bar__minus_6_bar_3_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60)\n (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_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 KeyChainType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take keychain 1 from sidetable 1", "go to desk 1", "move keychain 1 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..50f7f600ba2b121de47c3c802e83ffbaed36cff9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/initial_state.pddl @@ -0,0 +1,494 @@ + +(define (problem plan_trial_T20190908_124646_907558) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_40_bar__plus_01_dot_78_bar__minus_02_dot_28 - object + BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object + BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object + Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object + Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 - object + Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 - object + Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 - object + Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object + CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 - object + CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 - object + CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 - object + CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 - object + CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 - object + CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 - object + Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object + CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 - object + KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 - object + KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 - object + Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object + Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 - object + LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object + Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object + Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 - object + Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 - object + Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 - object + Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 - object + Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 - object + Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object + TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object + Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object + Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle + Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle + Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle + SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location + loc_bar_5_bar__minus_5_bar_1_bar_30 - location + loc_bar_4_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType) + (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType) + (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType) + (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType) + (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType) + (objectType CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 CDType) + (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType) + (objectType CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 CDType) + (objectType Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 BookType) + (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 PillowType) + (objectType Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 PenType) + (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType) + (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType) + (objectType KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 KeyChainType) + (objectType Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 PencilType) + (objectType Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType) + (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 PillowType) + (objectType CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 CreditCardType) + (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType) + (objectType CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 KeyChainType) + (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType) + (objectType Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 BookType) + (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType) + (objectType CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 CDType) + (objectType Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 LaptopType) + (objectType CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 CellPhoneType) + (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType) + (objectType Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 PencilType) + (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType) + (objectType CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 CellPhoneType) + (objectType AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 AlarmClockType) + (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType) + (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BasketBallType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05) + (pickupable CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23) + (pickupable Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42) + (pickupable Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42) + (pickupable Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28) + (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36) + (pickupable KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14) + (pickupable Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12) + (pickupable Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22) + (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06) + (pickupable CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98) + (pickupable CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03) + (pickupable KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27) + (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82) + (pickupable Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08) + (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03) + (pickupable CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13) + (pickupable Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78) + (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07) + (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (pickupable Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99) + (pickupable CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83) + (pickupable AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28) + (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + + (atLocation agent1 loc_bar_2_bar__minus_6_bar_3_bar_30) + + + + + + + + + + + + + (inReceptacle CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15) + + + (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_26_bar__plus_01_dot_35_bar__minus_02_dot_13 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (objectAtLocation KeyChain_bar__minus_01_dot_00_bar__plus_01_dot_35_bar__minus_02_dot_27 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation Pencil_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_87_bar__plus_00_dot_74_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CD_bar__plus_00_dot_10_bar__plus_00_dot_14_bar__minus_02_dot_23 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0) + (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_06 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_28 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_28 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_97_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_64_bar__plus_00_dot_38_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_01_dot_14 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_01_dot_98 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_62_bar__plus_00_dot_08_bar__minus_01_dot_05 loc_bar_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30) + (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o KeyChainType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2d695e87b80e40f6aa8c4bfc17d08b481917f54d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_124646_907558/traj_data.json @@ -0,0 +1,2832 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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the set of keys from the nightstand", + "turn to the right and go to the wall and turn to the right and go to the desk", + "put the set of keys on the desk" + ], + "task_desc": "Place a set of keys on a desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AHBWX3WYMAB0E_34X6J5FLPWPSURKVNJZPHON5K30JQH", + "high_descs": [ + "Turn around and move to the night stand on the right of the bed.", + "Pick up the keys from the night stand.", + "Turn around and move to the end of the desk above the trash can.", + "Put the keys on the desk to the right of the paper." + ], + "task_desc": "Move a set of keys to the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3QY5DC2MXUB4HI5GL2S9CRS2UHPUFU", + "high_descs": [ + "Turn around and go to the right to face the black night stand next to the bed.", + "Pick the keys up from the black night stand.", + "Turn around and go to the left and then right to stand in front of the end of the desk with the trash can. ", + "Put the keys on the desk." + ], + "task_desc": "Put keys on a desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..96582fc3a827a501ee2c8da8cef3a362ff67d9ec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/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 keychain in desk.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_125324_094909)\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_17_bar__plus_00_dot_84_bar__minus_02_dot_08 - object\n BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object\n BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object\n Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object\n Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 - object\n Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 - object\n Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 - object\n Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object\n CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 - object\n CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 - object\n CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 - object\n CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 - object\n Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object\n CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 - object\n CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 - object\n KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object\n Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 - object\n Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 - object\n Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 - object\n LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object\n Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object\n Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 - object\n Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 - object\n Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 - object\n Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 - object\n Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 - object\n Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object\n Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object\n TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object\n Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object\n Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle\n Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle\n SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location\n loc_bar_5_bar__minus_5_bar_1_bar_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_6_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType)\n (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType)\n (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType)\n (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType)\n (objectType Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 BookType)\n (objectType CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 CDType)\n (objectType KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType)\n (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType)\n (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 CDType)\n (objectType Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 BookType)\n (objectType Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 LaptopType)\n (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType)\n (objectType CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 CreditCardType)\n (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType)\n (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType)\n (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 AlarmClockType)\n (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType)\n (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 LaptopType)\n (objectType Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType)\n (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType)\n (objectType Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType)\n (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType)\n (objectType Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 PencilType)\n (objectType CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 CreditCardType)\n (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType)\n (objectType Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 PillowType)\n (objectType Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 PencilType)\n (objectType CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 CellPhoneType)\n (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType)\n (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 PillowType)\n (objectType Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 PenType)\n (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType)\n (objectType CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 CDType)\n (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (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 Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75)\n (pickupable CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08)\n (pickupable KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93)\n (pickupable Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78)\n (pickupable Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30)\n (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36)\n (pickupable CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29)\n (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22)\n (pickupable AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08)\n (pickupable Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60)\n (pickupable Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22)\n (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82)\n (pickupable Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42)\n (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03)\n (pickupable Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07)\n (pickupable CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22)\n (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (pickupable Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42)\n (pickupable Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19)\n (pickupable CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14)\n (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30)\n (pickupable Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07)\n (pickupable CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24)\n (pickupable KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n \n (atLocation agent1 loc_bar__minus_6_bar__minus_1_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (objectAtLocation CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60)\n (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_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 KeyChainType)\n (receptacleType ?r DeskType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take keychain 2 from sidetable 1", "go to desk 1", "move keychain 2 to desk 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1adc58cc1ce84e1e80c5774471cad834858744ee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-KeyChain-None-Desk-310/trial_T20190908_125324_094909/initial_state.pddl @@ -0,0 +1,503 @@ + +(define (problem plan_trial_T20190908_125324_094909) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_17_bar__plus_00_dot_84_bar__minus_02_dot_08 - object + BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object + BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object + Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object + Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 - object + Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 - object + Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 - object + Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object + CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 - object + CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 - object + CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 - object + CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 - object + Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object + CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 - object + CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 - object + KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object + Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 - object + Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 - object + Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 - object + LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object + Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object + Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 - object + Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 - object + Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 - object + Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 - object + Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 - object + Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object + Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object + TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object + Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object + Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle + Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle + Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle + SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location + loc_bar_5_bar__minus_5_bar_1_bar_30 - location + loc_bar_4_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType) + (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType) + (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType) + (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType) + (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType) + (objectType Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 BookType) + (objectType CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 CDType) + (objectType KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType) + (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType) + (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 CDType) + (objectType Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 BookType) + (objectType Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 LaptopType) + (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType) + (objectType CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 CreditCardType) + (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType) + (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType) + (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 AlarmClockType) + (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType) + (objectType Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 LaptopType) + (objectType Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType) + (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType) + (objectType Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType) + (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType) + (objectType Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 PencilType) + (objectType CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 CreditCardType) + (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType) + (objectType Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 PillowType) + (objectType Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 PencilType) + (objectType CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 CellPhoneType) + (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType) + (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 PillowType) + (objectType Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 PenType) + (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType) + (objectType CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 CDType) + (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 KeyChainType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BasketBallType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75) + (pickupable CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08) + (pickupable KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76) + (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93) + (pickupable Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78) + (pickupable Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30) + (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36) + (pickupable CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29) + (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22) + (pickupable AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08) + (pickupable Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60) + (pickupable Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22) + (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82) + (pickupable Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42) + (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03) + (pickupable Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07) + (pickupable CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22) + (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (pickupable Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42) + (pickupable Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19) + (pickupable CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14) + (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30) + (pickupable Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07) + (pickupable CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24) + (pickupable KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76) + (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + + (atLocation agent1 loc_bar__minus_6_bar__minus_1_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + (inReceptacle Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + + + (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_21_bar__plus_01_dot_35_bar__minus_02_dot_24 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (objectAtLocation CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_02_dot_29 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_81_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_72_bar__plus_00_dot_64_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_75 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_15_bar__plus_00_dot_64_bar__plus_00_dot_60 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__plus_00_dot_30_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_37_bar__minus_00_dot_93 loc_bar_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation Book_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0) + (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_67_bar__plus_00_dot_69_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_01_dot_14 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_64_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_07 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation KeyChain_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation CD_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30) + (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o KeyChainType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file 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[], + "random_seed": 1667919690, + "scene_num": 310 + }, + "task_id": "trial_T20190908_125324_094909", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A21KF567E8ZCLO_333U7HK6IC6Y5IGQIXT5HPG61NIDJB", + "high_descs": [ + "Walk towards the bedside table", + "Pick up the keys that are in the back from the table", + "Turn around and walk towards the desk", + "Place the keys on the desk" + ], + "task_desc": "Take a set of keys to the desk", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_33PPUNGG3BWI674ZIKRBA8L0ZNXZR1", + "high_descs": [ + "Walk towards the desk, then turn left ad walk across the room to the end table to the right of the bed.", + "Pick up the furthest set of keys off of the end table.", + "Turn right and walk to the wall, then turn right again and walk up to the wooden desk.", + "Put the set of keys on the wooden desk in front of you." + ], + "task_desc": "Move a set of keys to a wooden desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AFU00NU09CFXE_3NL0RFNU0IEGG63F77SOF0MD30Z4K0", + "high_descs": [ + "Turn left and cross the room to stand in front of the nightstand that's between the bed and door.", + "Pick up the keys off the nightstand that are closest to the head of the bed.", + "Turn right and when you get to the wall, head right again until you're standing in front of the black trash bin. and side of the desk.", + "Place the keys on the desk." + ], + "task_desc": "Move keys to the desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8767cc5e00d7f16663f4b1963ec20d983edfb7bf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/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 pencil on 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_023553_529151)\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_17_bar__plus_00_dot_84_bar__minus_01_dot_65 - object\n AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 - object\n BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object\n BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object\n Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object\n Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 - object\n Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 - object\n Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 - object\n Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object\n CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 - object\n CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 - object\n Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object\n CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 - object\n CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 - object\n CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 - object\n KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 - object\n KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 - object\n Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object\n Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 - object\n Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 - object\n LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object\n Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object\n Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 - object\n Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object\n Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 - object\n Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 - object\n Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object\n Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object\n TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object\n Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object\n Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle\n Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle\n SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location\n loc_bar_5_bar__minus_5_bar_1_bar_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar_1_bar__minus_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType)\n (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType)\n (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType)\n (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType)\n (objectType CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 CreditCardType)\n (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType)\n (objectType CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 CDType)\n (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType)\n (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType)\n (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType)\n (objectType Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 PencilType)\n (objectType Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType)\n (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType)\n (objectType CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 CreditCardType)\n (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType)\n (objectType Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 PenType)\n (objectType Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 BookType)\n (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType)\n (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 BookType)\n (objectType CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 CellPhoneType)\n (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType)\n (objectType Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 PencilType)\n (objectType CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 CreditCardType)\n (objectType Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 PencilType)\n (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 AlarmClockType)\n (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType)\n (objectType CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 CellPhoneType)\n (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType)\n (objectType Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType)\n (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType)\n (objectType KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 KeyChainType)\n (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 AlarmClockType)\n (objectType Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 LaptopType)\n (objectType KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 KeyChainType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (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 CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93)\n (pickupable CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36)\n (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22)\n (pickupable Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93)\n (pickupable Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42)\n (pickupable CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65)\n (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82)\n (pickupable Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03)\n (pickupable Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78)\n (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03)\n (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30)\n (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07)\n (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (pickupable Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97)\n (pickupable CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29)\n (pickupable Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (pickupable AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65)\n (pickupable CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76)\n (pickupable Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22)\n (pickupable KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16)\n (pickupable AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19)\n (pickupable Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19)\n (pickupable KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27)\n (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n \n (atLocation agent1 loc_bar_1_bar__minus_6_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n (inReceptacle Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60)\n (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_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 PencilType)\n (receptacleType ?r ShelfType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 1 from sidetable 1", "go to cabinet 3", "move pencil 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..60f6fc3062f0e4e37756767f5ae6dfa3d7bf3652 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/initial_state.pddl @@ -0,0 +1,500 @@ + +(define (problem plan_trial_T20190908_023553_529151) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_17_bar__plus_00_dot_84_bar__minus_01_dot_65 - object + AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 - object + BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object + BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object + Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object + Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 - object + Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 - object + Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 - object + Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object + CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 - object + CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 - object + Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object + CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 - object + CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 - object + CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 - object + KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 - object + KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 - object + Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object + Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 - object + Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 - object + LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object + Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object + Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 - object + Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 - object + Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 - object + Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 - object + Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 - object + Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object + TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object + Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object + Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle + Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle + Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle + SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location + loc_bar_5_bar__minus_5_bar_1_bar_30 - location + loc_bar_4_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType) + (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType) + (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType) + (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType) + (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType) + (objectType CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 CreditCardType) + (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType) + (objectType CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 CDType) + (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType) + (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType) + (objectType Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 PillowType) + (objectType Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 PencilType) + (objectType Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42 LaptopType) + (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType) + (objectType CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 CreditCardType) + (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType) + (objectType Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 PenType) + (objectType Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 BookType) + (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType) + (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 BookType) + (objectType CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 CellPhoneType) + (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType) + (objectType Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 PencilType) + (objectType CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 CreditCardType) + (objectType Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 PencilType) + (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 AlarmClockType) + (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType) + (objectType CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 CellPhoneType) + (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType) + (objectType Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 BookType) + (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType) + (objectType KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 AlarmClockType) + (objectType Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 LaptopType) + (objectType KeyChain_bar__minus_01_dot_03_bar__plus_01_dot_35_bar__minus_02_dot_27 KeyChainType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BasketBallType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93) + (pickupable CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22) + (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36) + (pickupable Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22) + (pickupable Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93) + (pickupable Laptop_bar__plus_01_dot_44_bar__plus_00_dot_64_bar__plus_00_dot_42) + (pickupable CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65) + (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82) + (pickupable Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03) + (pickupable Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78) + (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03) + (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30) + (pickupable CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07) + 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Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + + (atLocation agent1 loc_bar_1_bar__minus_6_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CreditCard_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle 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loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_22 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_47_bar__plus_00_dot_84_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Book_bar__plus_02_dot_00_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0) + (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_01_dot_99_bar__plus_00_dot_67_bar__plus_00_dot_22 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_17_bar__plus_00_dot_84_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (objectAtLocation CellPhone_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_07 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60) + (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (objectAtLocation Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_59_bar__plus_00_dot_38_bar__minus_00_dot_93 loc_bar_3_bar__minus_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_01_dot_57_bar__plus_00_dot_08_bar__minus_01_dot_16 loc_bar_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_40_bar__plus_00_dot_84_bar__minus_02_dot_29 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_72_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30) + (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PencilType) + (receptacleType ?r ShelfType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023553_529151/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..229282cdd32a02da112cc2a07cbc7df50e50d29a --- /dev/null +++ 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pencil from the desk to the desk shelf", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3KB8R4ZV1HONEU670NSFO0GOCUFGB0", + "high_descs": [ + "Turn right and walk up to the wooden desk", + "Pick up the yellow pencil from the desk", + "Walk a couple feet left then turn back to face the same desk", + "Put the pencil on the upper shelf of the desk" + ], + "task_desc": "Put the yellow pencil on the upper shelf of the desk", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3XUHV3NRVNFZPAK9JJJK6ESXHXP5H4", + "high_descs": [ + "Walk around the desk to the other side.", + "Pick up the pencil on the desk.", + "Look up.", + "Put the pencil in the right cabinet in front of the blue pencil." + ], + "task_desc": "Put a pencil in a cabinet.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aa97640fef9e0b5e9d97c8dfdffaadff78c7cee8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/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 pencil on 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_023618_136375)\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_24_bar__plus_00_dot_84_bar__minus_01_dot_65 - object\n BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object\n BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object\n Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object\n Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 - object\n Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 - object\n Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object\n CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 - object\n CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 - object\n CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 - object\n CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 - object\n CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 - object\n Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object\n CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 - object\n CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 - object\n KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object\n Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 - object\n Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 - object\n Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 - object\n LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object\n Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object\n Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 - object\n Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 - object\n Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 - object\n Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 - object\n Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 - object\n Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 - object\n Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object\n TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object\n Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object\n Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle\n Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle\n Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle\n Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle\n SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle\n loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location\n loc_bar_3_bar__minus_5_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_2_bar_3_bar_0_bar_60 - location\n loc_bar__minus_5_bar_1_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location\n loc_bar_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location\n loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location\n loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location\n loc_bar_5_bar__minus_5_bar_1_bar_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location\n loc_bar_2_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType)\n (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType)\n (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType)\n (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType)\n (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType)\n (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType)\n (objectType Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 LaptopType)\n (objectType Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 LaptopType)\n (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType)\n (objectType Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 PillowType)\n (objectType Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 PenType)\n (objectType AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65 AlarmClockType)\n (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType)\n (objectType KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 KeyChainType)\n (objectType Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 BookType)\n (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType)\n (objectType CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 CreditCardType)\n (objectType CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 CellPhoneType)\n (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType)\n (objectType Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 PencilType)\n (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType)\n (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType)\n (objectType Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 PencilType)\n (objectType CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 CellPhoneType)\n (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 PillowType)\n (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType)\n (objectType CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 CellPhoneType)\n (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 PillowType)\n (objectType CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 CreditCardType)\n (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType)\n (objectType CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 CDType)\n (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType)\n (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 CDType)\n (objectType Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 BookType)\n (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType)\n (objectType Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 LaptopType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DeskType PenType)\n (canContain DeskType BookType)\n (canContain DeskType CDType)\n (canContain DeskType BoxType)\n (canContain DeskType CellPhoneType)\n (canContain DeskType KeyChainType)\n (canContain DeskType CreditCardType)\n (canContain DeskType BasketBallType)\n (canContain DeskType TennisRacketType)\n (canContain DeskType LaptopType)\n (canContain DeskType PencilType)\n (canContain DeskType AlarmClockType)\n (canContain BedType BasketBallType)\n (canContain BedType BaseballBatType)\n (canContain BedType TennisRacketType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ShelfType PenType)\n (canContain ShelfType BookType)\n (canContain ShelfType CDType)\n (canContain ShelfType BoxType)\n (canContain ShelfType CellPhoneType)\n (canContain ShelfType KeyChainType)\n (canContain ShelfType CreditCardType)\n (canContain ShelfType PencilType)\n (canContain ShelfType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType BoxType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType BasketBallType)\n (canContain SideTableType BaseballBatType)\n (canContain SideTableType TennisRacketType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType BoxType)\n (canContain DrawerType PenType)\n (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 Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86)\n (pickupable Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16)\n (pickupable Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24)\n (pickupable Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98)\n (pickupable AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65)\n (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36)\n (pickupable KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99)\n (pickupable Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30)\n (pickupable CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17)\n (pickupable CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19)\n (pickupable Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97)\n (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82)\n (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03)\n (pickupable Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99)\n (pickupable CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05)\n (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78)\n (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (pickupable CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78)\n (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78)\n (pickupable CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82)\n (pickupable CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10)\n (pickupable Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10)\n (pickupable Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08)\n (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03)\n (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92)\n (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n \n (atLocation agent1 loc_bar__minus_4_bar__minus_4_bar_3_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99)\n (inReceptacle Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06)\n (inReceptacle CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99)\n (inReceptacle Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24)\n (inReceptacle CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12)\n \n \n (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15)\n (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 loc_bar_2_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 loc_bar_4_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 loc_bar_5_bar__minus_5_bar_1_bar_30)\n (objectAtLocation Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45)\n (objectAtLocation AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 loc_bar__minus_2_bar_3_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 loc_bar__minus_5_bar_1_bar_3_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 loc_bar_3_bar__minus_5_bar_1_bar_60)\n (objectAtLocation TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 loc_bar__minus_5_bar_3_bar_3_bar_60)\n (objectAtLocation Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 loc_bar__minus_6_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 loc_bar__minus_2_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 loc_bar__minus_2_bar__minus_5_bar_2_bar_15)\n (objectAtLocation CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 loc_bar__minus_6_bar__minus_1_bar_3_bar_30)\n (objectAtLocation Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 loc_bar__minus_6_bar__minus_1_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 PencilType)\n (receptacleType ?r ShelfType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take pencil 1 from sidetable 1", "go to cabinet 3", "move pencil 1 to shelf 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..79bee1cab013d68d85d01505432527ad6a223d91 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pencil-None-Shelf-310/trial_T20190908_023618_136375/initial_state.pddl @@ -0,0 +1,500 @@ + +(define (problem plan_trial_T20190908_023618_136375) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_24_bar__plus_00_dot_84_bar__minus_01_dot_65 - object + BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 - object + BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 - object + Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 - object + Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 - object + Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 - object + Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 - object + CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 - object + CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 - object + CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 - object + CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 - object + CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 - object + Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 - object + CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 - object + CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 - object + KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Lamp_bar__minus_01_dot_67_bar__plus_01_dot_77_bar__minus_02_dot_19 - object + Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 - object + Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 - object + Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 - object + LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 - object + Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 - object + Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 - object + Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 - object + Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 - object + Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 - object + Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 - object + Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 - object + Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 - object + TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 - object + Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 - object + Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 - receptacle + Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 - receptacle + Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 - receptacle + Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 - receptacle + Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 - receptacle + SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 - receptacle + loc_bar__minus_2_bar__minus_5_bar_2_bar_60 - location + loc_bar_3_bar__minus_5_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_2_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_1_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar_30 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_15 - location + loc_bar__minus_6_bar__minus_4_bar_2_bar_15 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_15 - location + loc_bar_5_bar__minus_5_bar_1_bar_30 - location + loc_bar_4_bar__minus_7_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 DeskType) + (receptacleType Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 BedType) + (receptacleType Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 ShelfType) + (receptacleType SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 SideTableType) + (receptacleType GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 GarbageCanType) + (receptacleType Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 DrawerType) + (objectType Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 LaptopType) + (objectType Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 LaptopType) + (objectType Mirror_bar__plus_00_dot_88_bar__plus_01_dot_58_bar__minus_02_dot_40 MirrorType) + (objectType Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 PillowType) + (objectType Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 PenType) + (objectType AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65 AlarmClockType) + (objectType BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36 BaseballBatType) + (objectType KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 KeyChainType) + (objectType Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 BookType) + (objectType Window_bar__minus_02_dot_03_bar__plus_01_dot_39_bar__minus_00_dot_27 WindowType) + (objectType CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 CellPhoneType) + (objectType Blinds_bar__minus_01_dot_95_bar__plus_02_dot_16_bar__minus_00_dot_25 BlindsType) + (objectType Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 PencilType) + (objectType TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82 TennisRacketType) + (objectType BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03 BasketBallType) + (objectType Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 PencilType) + (objectType CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 CellPhoneType) + (objectType Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 PillowType) + (objectType Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 BoxType) + (objectType CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 CellPhoneType) + (objectType Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 PillowType) + (objectType CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 CreditCardType) + (objectType Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 ChairType) + (objectType CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 CDType) + (objectType Poster_bar__minus_01_dot_93_bar__plus_01_dot_41_bar__minus_01_dot_46 PosterType) + (objectType CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 CDType) + (objectType Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 BookType) + (objectType LightSwitch_bar__plus_01_dot_90_bar__plus_01_dot_30_bar__minus_01_dot_30 LightSwitchType) + (objectType Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 LaptopType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType CDType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType TennisRacketType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType TennisRacketType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType CDType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType BoxType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BasketBallType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType TennisRacketType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType BoxType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (pickupable Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86) + (pickupable Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16) + (pickupable Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24) + (pickupable Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98) + (pickupable AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65) + (pickupable BaseballBat_bar__minus_01_dot_60_bar__plus_00_dot_02_bar__plus_00_dot_36) + (pickupable KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30) + (pickupable CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17) + (pickupable CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19) + (pickupable Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97) + (pickupable TennisRacket_bar__minus_01_dot_67_bar__plus_00_dot_00_bar__plus_00_dot_82) + (pickupable BasketBall_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__plus_01_dot_03) + (pickupable Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99) + (pickupable CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05) + (pickupable Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78) + (pickupable Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (pickupable CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78) + (pickupable Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78) + (pickupable CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82) + (pickupable CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22) + (pickupable CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10) + (pickupable Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10) + (pickupable Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08) + (isReceptacleObject Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03) + (openable Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (openable Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92) + (openable Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + + (atLocation agent1 loc_bar__minus_4_bar__minus_4_bar_3_bar_30) + + + + + + + + + + + + + (inReceptacle CD_bar__plus_01_dot_76_bar__plus_00_dot_68_bar__minus_01_dot_22 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle KeyChain_bar__plus_01_dot_54_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Pencil_bar__plus_01_dot_63_bar__plus_00_dot_68_bar__minus_00_dot_99 SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99) + (inReceptacle Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Box_bar__minus_00_dot_42_bar__plus_02_dot_07_bar__minus_02_dot_03 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Laptop_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_02_dot_08 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pen_bar__minus_00_dot_71_bar__plus_01_dot_78_bar__minus_01_dot_98 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_00_dot_24_bar__plus_00_dot_84_bar__minus_01_dot_65 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06) + (inReceptacle CellPhone_bar__plus_01_dot_62_bar__plus_00_dot_38_bar__minus_01_dot_05 Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99) + (inReceptacle Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_00_dot_58_bar__plus_00_dot_74_bar__plus_00_dot_24 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24) + (inReceptacle CreditCard_bar__minus_00_dot_90_bar__plus_01_dot_35_bar__minus_02_dot_17 Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12) + + + (receptacleAtLocation Bed_bar__plus_01_dot_18_bar__plus_00_dot_00_bar__plus_00_dot_24 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_03_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_1_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_79_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_08_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_84_bar__plus_01_dot_53_bar__minus_01_dot_92 loc_bar__minus_6_bar__minus_4_bar_2_bar_15) + (receptacleAtLocation Desk_bar__minus_00_dot_96_bar_00_dot_00_bar__minus_02_dot_06 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_17_bar__minus_00_dot_99 loc_bar_2_bar__minus_6_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_3_bar__minus_5_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_13_bar__plus_00_dot_00_bar__minus_02_dot_15 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_94_bar__plus_01_dot_34_bar__minus_02_dot_12 loc_bar__minus_2_bar__minus_5_bar_2_bar_15) + (receptacleAtLocation SideTable_bar__plus_01_dot_60_bar__plus_00_dot_46_bar__minus_00_dot_99 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_59_bar__plus_00_dot_08_bar__minus_01_dot_10 loc_bar_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_66_bar__plus_00_dot_08_bar__minus_00_dot_82 loc_bar_2_bar__minus_6_bar_1_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__minus_01_dot_97 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_94_bar__plus_00_dot_84_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_58_bar__plus_00_dot_65_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_15_bar__plus_00_dot_74_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Book_bar__plus_01_dot_44_bar__plus_00_dot_65_bar__minus_00_dot_30 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_01_dot_72_bar__plus_00_dot_74_bar__plus_00_dot_78 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation Laptop_bar__minus_00_dot_94_bar__plus_01_dot_78_bar__minus_02_dot_16 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_63_bar__plus_00_dot_84_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_40_bar__plus_01_dot_78_bar__minus_02_dot_10 loc_bar__minus_2_bar__minus_5_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_57 loc_bar__minus_4_bar__minus_4_bar_2_bar_60) + (objectAtLocation 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0.0 + } + }, + { + "objectName": "BasketBall_d0749346", + "position": { + "x": -0.3372621, + "y": 0.120000444, + "z": 1.0316453 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BaseballBat_124fb40c", + "position": { + "x": -1.602, + "y": 0.022, + "z": 0.356 + }, + "rotation": { + "x": 90.0, + "y": 8.736932, + "z": 0.0 + } + }, + { + "objectName": "Pen_290c3680", + "position": { + "x": -0.705143, + "y": 1.78305292, + "z": -1.98188484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_e9073545", + "position": { + "x": 0.584793568, + "y": 0.6474927, + "z": 0.777968168 + }, + "rotation": { + "x": 0.0, + "y": -2.3905659e-05, + "z": 0.0 + } + }, + { + "objectName": "TennisRacket_de7db8d2", + "position": { + "x": -1.667, + "y": 0.0, + "z": 0.818 + }, + "rotation": { + "x": 90.0, + "y": 29.999939, + "z": 0.0 + } + }, + { + "objectName": "Laptop_f5306a34", + "position": { + "x": -0.9355247, + "y": 0.835999966, + "z": -1.86160636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_b9e0bc7f", + "position": { + "x": -0.705143, + "y": 0.8412912, + "z": -1.96967769 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_90079c68", + "position": { + "x": 1.53661442, + "y": 0.6811471, + "z": -0.988000035 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_610c6ee4", + "position": { + "x": 1.6637373, + "y": 0.08264768, + "z": -0.816962 + }, + "rotation": { + "x": 0.0, + "y": 89.99995, + "z": 0.0 + } + }, + { + "objectName": "CD_1962be34", + "position": { + "x": 1.59202826, + "y": 0.0822584, + "z": -1.10202527 + }, + "rotation": { + "x": 0.0, + "y": 89.99995, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 360081377, + "scene_num": 310 + }, + "task_id": "trial_T20190908_023618_136375", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A38Z99XF4NDNH0_3I3WADAZ9TL9HR6WNWEAQNPYTKF5O6", + "high_descs": [ + "Move to the left side of the desk where the pencil is sitting on top of the desk", + "Pick up the pencil on the edge of the desk", + "Move the pencil towards the desk shelf directly above the desk top", + "Place the pencil on top of the desk shelf" + ], + "task_desc": "Move a pencil to the desk shelf", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3PMBY0YE2AKR9PB50HI0730JQ2EC96", + "high_descs": [ + "Look down, turn around, walk straight to the small cabinet, turn right to face the desk.", + "Grab the pencil next to the laptop on the table.", + "Look up with the pencil in hand to the cabinet up top.", + "Place the pencil inside the cabinet up top." + ], + "task_desc": "Place the pencil into the cabinet up top.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A6U2C66WQ7QQN_3AMW0RGHOGJVSGO36WNB94UAUA9NPT", + "high_descs": [ + "Turn around, take a few steps", + "face the desk on the right", + "Take the pencil from the desk", + "Put the pencil on the shelf on the desk" + ], + "task_desc": "Take the pencil from the desk, put it on the shelf", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..34ae5372bdc2acb1c46636b27ae470991c058604 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/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 pillow in armchair.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_104920_763828)\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_78_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object\n Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 - object\n Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 - object\n CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 - object\n CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 - object\n CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 - object\n CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 - object\n CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 - object\n CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 - object\n CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 - object\n CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 - object\n KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 - object\n KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 - object\n Lamp_bar__plus_00_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_98 - object\n Lamp_bar__plus_03_dot_68_bar__plus_00_dot_77_bar__minus_01_dot_39 - object\n Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 - object\n Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 - object\n Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 - object\n LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object\n Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object\n Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object\n Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 - object\n Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 - object\n Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 - object\n Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 - object\n Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object\n Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object\n TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 - object\n ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 - receptacle\n Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle\n DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 - receptacle\n GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 - receptacle\n loc_bar_4_bar__minus_4_bar_3_bar_60 - location\n loc_bar_7_bar_5_bar_3_bar_30 - location\n loc_bar_11_bar_1_bar_3_bar_45 - location\n loc_bar_3_bar_5_bar_0_bar_45 - location\n loc_bar_5_bar__minus_7_bar_3_bar_60 - location\n loc_bar_9_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_9_bar_2_bar_15 - location\n loc_bar_11_bar__minus_9_bar_1_bar_60 - location\n loc_bar_13_bar__minus_3_bar_1_bar_60 - location\n loc_bar_7_bar__minus_8_bar_3_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_60 - location\n loc_bar_6_bar__minus_8_bar_3_bar_15 - location\n loc_bar_7_bar_5_bar_0_bar_45 - location\n loc_bar_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 DrawerType)\n (receptacleType Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 BedType)\n (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 SideTableType)\n (receptacleType ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 ArmChairType)\n (receptacleType GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 GarbageCanType)\n (receptacleType DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 DiningTableType)\n (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 SideTableType)\n (objectType Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 PencilType)\n (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType)\n (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 PillowType)\n (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 PenType)\n (objectType Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 LaptopType)\n (objectType Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 PencilType)\n (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 CDType)\n (objectType Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 LaptopType)\n (objectType CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 CreditCardType)\n (objectType Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 PencilType)\n (objectType Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 PenType)\n (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType)\n (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType)\n (objectType CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 CellPhoneType)\n (objectType Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 LaptopType)\n (objectType CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 CDType)\n (objectType CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 CreditCardType)\n (objectType KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 KeyChainType)\n (objectType Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 BookType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 CellPhoneType)\n (objectType CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 CellPhoneType)\n (objectType CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 CDType)\n (objectType TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 TissueBoxType)\n (objectType AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 AlarmClockType)\n (objectType KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 KeyChainType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (objectType Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 BookType)\n (objectType CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 CreditCardType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType 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 BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01)\n (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41)\n (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12)\n (pickupable Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59)\n (pickupable Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67)\n (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94)\n (pickupable Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34)\n (pickupable CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79)\n (pickupable Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21)\n (pickupable Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68)\n (pickupable CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53)\n (pickupable Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72)\n (pickupable CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38)\n (pickupable CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30)\n (pickupable KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15)\n (pickupable Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05)\n (pickupable CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03)\n (pickupable CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15)\n (pickupable CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10)\n (pickupable TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94)\n (pickupable Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24)\n (pickupable CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77)\n \n (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n (atLocation agent1 loc_bar_6_bar__minus_4_bar_1_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98)\n (inReceptacle CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (inReceptacle CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (inReceptacle KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n \n (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 loc_bar_7_bar_5_bar_3_bar_30)\n (objectAtLocation Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 loc_bar_5_bar__minus_7_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 loc_bar_6_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_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 PillowType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 1", "go to armchair 1", "move pillow 2 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6215e64fe58bfaf31419f00e1ead58dd0a6a4942 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/initial_state.pddl @@ -0,0 +1,481 @@ + +(define (problem plan_trial_T20190908_104920_763828) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_78_bar__plus_00_dot_78_bar__minus_01_dot_59 - object + Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object + Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 - object + Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 - object + CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 - object + CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 - object + CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 - object + CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 - object + CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 - object + CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 - object + Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object + CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 - object + CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 - object + CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 - object + KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 - object + KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 - object + Lamp_bar__plus_00_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_98 - object + Lamp_bar__plus_03_dot_68_bar__plus_00_dot_77_bar__minus_01_dot_39 - object + Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 - object + Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 - object + Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 - object + LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object + Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object + Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object + Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 - object + Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object + Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 - object + Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 - object + Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 - object + Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object + Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object + TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 - object + ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 - receptacle + Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle + DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 - receptacle + GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 - receptacle + SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 - receptacle + loc_bar_4_bar__minus_4_bar_3_bar_60 - location + loc_bar_7_bar_5_bar_3_bar_30 - location + loc_bar_11_bar_1_bar_3_bar_45 - location + loc_bar_3_bar_5_bar_0_bar_45 - location + loc_bar_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_9_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_9_bar_2_bar_15 - location + loc_bar_11_bar__minus_9_bar_1_bar_60 - location + loc_bar_13_bar__minus_3_bar_1_bar_60 - location + loc_bar_7_bar__minus_8_bar_3_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_60 - location + loc_bar_6_bar__minus_8_bar_3_bar_15 - location + loc_bar_7_bar_5_bar_0_bar_45 - location + loc_bar_13_bar__minus_3_bar_2_bar_60 - location + loc_bar_6_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 DrawerType) + (receptacleType Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 BedType) + (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 SideTableType) + (receptacleType ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 ArmChairType) + (receptacleType GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 GarbageCanType) + (receptacleType DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 DiningTableType) + (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 SideTableType) + (objectType Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 PencilType) + (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType) + (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 PillowType) + (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType) + (objectType Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 PenType) + (objectType Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 LaptopType) + (objectType Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 PencilType) + (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 CDType) + (objectType Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 LaptopType) + (objectType CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 CreditCardType) + (objectType Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 PencilType) + (objectType Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 PenType) + (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType) + (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType) + (objectType CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 CellPhoneType) + (objectType Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 LaptopType) + (objectType CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 CDType) + (objectType CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 CreditCardType) + (objectType KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 KeyChainType) + (objectType Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 BookType) + (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType) + (objectType CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 CellPhoneType) + (objectType CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 CellPhoneType) + (objectType CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 CDType) + (objectType TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 TissueBoxType) + (objectType AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 AlarmClockType) + (objectType KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 KeyChainType) + (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType) + (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType) + (objectType Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 BookType) + (objectType CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 CreditCardType) + (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 BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType CDType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01) + (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41) + (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12) + (pickupable Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59) + (pickupable Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67) + (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86) + (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94) + (pickupable Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34) + (pickupable CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79) + (pickupable Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21) + (pickupable Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68) + (pickupable CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53) + (pickupable Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72) + (pickupable CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38) + (pickupable CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30) + (pickupable KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15) + (pickupable Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05) + (pickupable CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03) + (pickupable CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15) + (pickupable CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10) + (pickupable TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59) + (pickupable KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94) + (pickupable Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24) + (pickupable CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77) + + (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30) + + (atLocation agent1 loc_bar_6_bar__minus_4_bar_1_bar_30) + + + + + + + + + + + + + (inReceptacle CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27) + (inReceptacle CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27) + (inReceptacle AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98) + (inReceptacle CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + (inReceptacle CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + (inReceptacle KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation CD_bar__plus_00_dot_19_bar__plus_00_dot_70_bar__plus_01_dot_38 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_55_bar__plus_00_dot_44_bar__minus_02_dot_03 loc_bar_7_bar__minus_8_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_03_dot_45_bar__plus_00_dot_77_bar__minus_01_dot_67 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_03_dot_63_bar__plus_00_dot_05_bar__minus_01_dot_01 loc_bar_13_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_93_bar__plus_00_dot_79_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_35_bar__plus_00_dot_62_bar__plus_01_dot_15 loc_bar_7_bar_5_bar_3_bar_30) + (objectAtLocation Book_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation Laptop_bar__plus_01_dot_17_bar__plus_00_dot_59_bar__plus_00_dot_34 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_23_bar__plus_00_dot_71_bar__plus_01_dot_21 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_58_bar__plus_00_dot_60_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CD_bar__plus_00_dot_98_bar__plus_00_dot_44_bar__minus_02_dot_10 loc_bar_7_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45) + (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60) + (objectAtLocation Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_24 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_89_bar__plus_00_dot_43_bar__minus_01_dot_94 loc_bar_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_68 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_77_bar__plus_00_dot_59_bar__plus_00_dot_72 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_00_dot_97_bar__plus_00_dot_60_bar__plus_00_dot_53 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_78_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 loc_bar_6_bar__minus_8_bar_3_bar_15) + (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__minus_00_dot_94 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45) + (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PillowType) + (receptacleType ?r ArmChairType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..150d4a3ac9f6e38157150f0108f1472b00fff443 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104920_763828/traj_data.json @@ -0,0 +1,2745 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000011.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000012.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000013.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000019.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000020.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000021.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000022.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000023.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000024.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000025.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000026.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000027.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000028.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000029.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000030.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000031.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000032.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000033.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000034.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000035.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000036.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000037.png", + "low_idx": 5 + }, + { + "high_idx": 0, + "image_name": "000000038.png", + "low_idx": 5 + }, + { + "high_idx": 0, + "image_name": "000000039.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000040.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000041.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000042.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000043.png", + "low_idx": 6 + }, + { + "high_idx": 0, + "image_name": "000000044.png", + "low_idx": 6 + }, + { + "high_idx": 0, 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"random_seed": 2471152543, + "scene_num": 321 + }, + "task_id": "trial_T20190908_104920_763828", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A4UAFZ5LW71K_33PPO7FECY62A7WK0F855O16OAYIDD", + "high_descs": [ + "turn around, walk to the table, turn right to face the bed", + "pick up the pillow that is on the bed", + "turn right, take a few steps, turn right, walk forward, turn right to face chair", + "put the pillow on the chair" + ], + "task_desc": "move pillow from bed to chair", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3XC1O3LBOVDBHX0N785X28BK8ZALT5", + "high_descs": [ + "Turn around and turn right at the side table to face the bed.", + "Pick up the purple pillow to the left of the book with the red circle on the bed.", + "Turn right, hang a right at the table and face the chair on the right.", + "Put the pillow on the left side of the cushion on the chair." + ], + "task_desc": "Place a pillow on a chair.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3U5NZHP4LUTB39OQZ6HF56HG2FHPHY", + "high_descs": [ + "Turn left on then walk towards the side table then face the bed on your right", + "Pick up the pillow near you on the bed", + "Turn right then head to the couch on your right", + "Put the pillow on the couch beside the cd" + ], + "task_desc": "Put the pillow from the bed to the couch", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..55adefcb2f545255d0cbdf17d9772aba9b077c84 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/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 pillow on armchair.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_104935_443304)\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_23_bar__plus_00_dot_70_bar__plus_01_dot_30 - object\n AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object\n Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object\n Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 - object\n CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 - object\n CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 - object\n CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 - object\n Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object\n CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 - object\n CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 - object\n KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 - object\n KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 - object\n KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n Lamp_bar__plus_00_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_98 - object\n Lamp_bar__plus_03_dot_68_bar__plus_00_dot_77_bar__minus_01_dot_39 - object\n Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 - object\n Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 - object\n LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object\n Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object\n Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object\n Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 - object\n Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 - object\n Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object\n Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object\n TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object\n Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 - object\n ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 - receptacle\n Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle\n DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 - receptacle\n Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 - receptacle\n GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle\n SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 - receptacle\n loc_bar_4_bar__minus_4_bar_3_bar_60 - location\n loc_bar_7_bar_5_bar_3_bar_30 - location\n loc_bar_11_bar_1_bar_3_bar_45 - location\n loc_bar_3_bar_5_bar_0_bar_45 - location\n loc_bar_9_bar__minus_9_bar_2_bar__minus_30 - location\n loc_bar_9_bar__minus_9_bar_2_bar_15 - location\n loc_bar_11_bar__minus_9_bar_1_bar_60 - location\n loc_bar_13_bar__minus_3_bar_1_bar_60 - location\n loc_bar_7_bar__minus_8_bar_3_bar_60 - location\n loc_bar_3_bar_5_bar_3_bar_60 - location\n loc_bar_6_bar__minus_8_bar_3_bar_15 - location\n loc_bar_7_bar_5_bar_0_bar_45 - location\n loc_bar_13_bar__minus_3_bar_2_bar_60 - location\n loc_bar_12_bar__minus_1_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 DrawerType)\n (receptacleType Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 BedType)\n (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 SideTableType)\n (receptacleType ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 ArmChairType)\n (receptacleType GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 GarbageCanType)\n (receptacleType DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 DiningTableType)\n (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 SideTableType)\n (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType)\n (objectType AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 AlarmClockType)\n (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 PillowType)\n (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType)\n (objectType Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 LaptopType)\n (objectType KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 KeyChainType)\n (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType)\n (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType)\n (objectType Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 BookType)\n (objectType KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 KeyChainType)\n (objectType TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 TissueBoxType)\n (objectType Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 LaptopType)\n (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 CellPhoneType)\n (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 CDType)\n (objectType AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 AlarmClockType)\n (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType)\n (objectType KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 KeyChainType)\n (objectType Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 PenType)\n (objectType CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 CreditCardType)\n (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType)\n (objectType Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 PencilType)\n (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType)\n (objectType CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 CreditCardType)\n (objectType CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 CellPhoneType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType 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 BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\n (canContain SideTableType CDType)\n (canContain SideTableType CellPhoneType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain GarbageCanType PenType)\n (canContain GarbageCanType CDType)\n (canContain GarbageCanType PencilType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DiningTableType PenType)\n (canContain DiningTableType BookType)\n (canContain DiningTableType CDType)\n (canContain DiningTableType CellPhoneType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType PencilType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType AlarmClockType)\n (canContain SideTableType PenType)\n (canContain SideTableType BookType)\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 TissueBoxType)\n (canContain SideTableType AlarmClockType)\n (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41)\n (pickupable AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30)\n (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12)\n (pickupable Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53)\n (pickupable KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95)\n (pickupable Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05)\n (pickupable KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05)\n (pickupable TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86)\n (pickupable Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43)\n (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79)\n (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38)\n (pickupable AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32)\n (pickupable KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98)\n (pickupable CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50)\n (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59)\n (pickupable CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46)\n (pickupable CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77)\n \n (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n (atLocation agent1 loc_bar_12_bar__minus_1_bar_2_bar_30)\n \n \n \n \n \n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15)\n (inReceptacle KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27)\n (inReceptacle CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59)\n (inReceptacle Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98)\n (inReceptacle CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30)\n (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02)\n (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30)\n \n \n (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 loc_bar_4_bar__minus_4_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 loc_bar_7_bar__minus_8_bar_3_bar_60)\n (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 loc_bar_11_bar_1_bar_3_bar_45)\n (objectAtLocation CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 loc_bar_6_bar__minus_8_bar_3_bar_15)\n (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 loc_bar_7_bar_5_bar_3_bar_30)\n (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15)\n (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45)\n (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_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 PillowType)\n (receptacleType ?r ArmChairType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take pillow 2 from bed 1", "go to armchair 1", "move pillow 2 to armchair 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..799f32faf7ce8cf3b5857e5ce963b5989d166508 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/initial_state.pddl @@ -0,0 +1,446 @@ + +(define (problem plan_trial_T20190908_104935_443304) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_23_bar__plus_00_dot_70_bar__plus_01_dot_30 - object + AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 - object + Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 - object + Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 - object + CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 - object + CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 - object + CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 - object + Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 - object + CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 - object + CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 - object + KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 - object + KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 - object + Lamp_bar__plus_00_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_98 - object + Lamp_bar__plus_03_dot_68_bar__plus_00_dot_77_bar__minus_01_dot_39 - object + Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 - object + Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 - object + LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 - object + Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 - object + Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 - object + Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 - object + Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 - object + Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 - object + Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 - object + TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 - object + Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 - object + ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 - receptacle + Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 - receptacle + DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 - receptacle + Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 - receptacle + GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 - receptacle + SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 - receptacle + loc_bar_4_bar__minus_4_bar_3_bar_60 - location + loc_bar_7_bar_5_bar_3_bar_30 - location + loc_bar_11_bar_1_bar_3_bar_45 - location + loc_bar_3_bar_5_bar_0_bar_45 - location + loc_bar_9_bar__minus_9_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_9_bar_2_bar_15 - location + loc_bar_11_bar__minus_9_bar_1_bar_60 - location + loc_bar_13_bar__minus_3_bar_1_bar_60 - location + loc_bar_7_bar__minus_8_bar_3_bar_60 - location + loc_bar_3_bar_5_bar_3_bar_60 - location + loc_bar_6_bar__minus_8_bar_3_bar_15 - location + loc_bar_7_bar_5_bar_0_bar_45 - location + loc_bar_13_bar__minus_3_bar_2_bar_60 - location + loc_bar_12_bar__minus_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 DrawerType) + (receptacleType Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 BedType) + (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 SideTableType) + (receptacleType ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 ArmChairType) + (receptacleType GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 GarbageCanType) + (receptacleType DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 DiningTableType) + (receptacleType SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 SideTableType) + (objectType Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 PillowType) + (objectType AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 AlarmClockType) + (objectType Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 PillowType) + (objectType LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 LightSwitchType) + (objectType Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 LaptopType) + (objectType KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 KeyChainType) + (objectType Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 MirrorType) + (objectType Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 ChairType) + (objectType Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 BookType) + (objectType KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 KeyChainType) + (objectType TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 TissueBoxType) + (objectType Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 LaptopType) + (objectType CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 CellPhoneType) + (objectType CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 CDType) + (objectType AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 AlarmClockType) + (objectType Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 WindowType) + (objectType KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 KeyChainType) + (objectType Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 PenType) + (objectType CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 CreditCardType) + (objectType Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 BlindsType) + (objectType Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 PencilType) + (objectType Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 PaintingType) + (objectType CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 CreditCardType) + (objectType CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 CellPhoneType) + (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 BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (canContain GarbageCanType TissueBoxType) + (canContain DiningTableType PenType) + (canContain DiningTableType BookType) + (canContain DiningTableType CDType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType PencilType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType AlarmClockType) + (pickupable Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41) + (pickupable AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30) + (pickupable Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12) + (pickupable Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53) + (pickupable KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95) + (pickupable Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05) + (pickupable KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05) + (pickupable TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86) + (pickupable Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43) + (pickupable CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79) + (pickupable CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38) + (pickupable AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32) + (pickupable KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59) + (pickupable Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98) + (pickupable CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50) + (pickupable Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59) + (pickupable CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46) + (pickupable CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77) + + (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + (openable Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30) + + (atLocation agent1 loc_bar_12_bar__minus_1_bar_2_bar_30) + + + + + + + + + + + + + (inReceptacle Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15) + (inReceptacle KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27) + (inReceptacle CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59) + (inReceptacle Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98) + (inReceptacle CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02) + (inReceptacle CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30) + + + (receptacleAtLocation ArmChair_bar__plus_00_dot_70_bar__plus_00_dot_01_bar__minus_02_dot_27 loc_bar_7_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Bed_bar__plus_00_dot_94_bar__plus_00_dot_00_bar__plus_00_dot_15 loc_bar_11_bar_1_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__plus_03_dot_24_bar__minus_00_dot_01_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__plus_01_dot_30 loc_bar_7_bar_5_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_00_dot_34_bar__plus_00_dot_62_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_03_dot_64_bar__plus_00_dot_00_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__plus_00_dot_28_bar__plus_00_dot_00_bar__minus_01_dot_02 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_23_bar__plus_00_dot_70_bar__plus_01_dot_30 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_33_bar__plus_00_dot_62_bar__minus_00_dot_79 loc_bar_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_37_bar__plus_00_dot_59_bar__plus_00_dot_53 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_00_dot_16_bar__plus_00_dot_70_bar__plus_01_dot_46 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_32_bar__plus_00_dot_71_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_69_bar__plus_00_dot_44_bar__minus_01_dot_95 loc_bar_7_bar__minus_8_bar_3_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_08_bar__plus_01_dot_23_bar__plus_01_dot_70 loc_bar_3_bar_5_bar_0_bar_45) + (objectAtLocation Chair_bar__plus_03_dot_23_bar_00_dot_00_bar__minus_01_dot_87 loc_bar_11_bar__minus_9_bar_1_bar_60) + (objectAtLocation Book_bar__plus_01_dot_37_bar__plus_00_dot_60_bar__minus_00_dot_05 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_03_dot_39_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_46_bar__plus_00_dot_64_bar__plus_00_dot_41 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_54_bar__plus_00_dot_64_bar__minus_00_dot_12 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_50 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_64_bar__plus_00_dot_05_bar__minus_00_dot_98 loc_bar_13_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_59 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_03_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_86 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_58_bar__plus_00_dot_59_bar__minus_00_dot_43 loc_bar_11_bar_1_bar_3_bar_45) + (objectAtLocation CellPhone_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_77 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_03_dot_55_bar__plus_00_dot_78_bar__minus_01_dot_32 loc_bar_13_bar__minus_3_bar_2_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_10_bar__plus_01_dot_43_bar__minus_02_dot_05 loc_bar_6_bar__minus_8_bar_3_bar_15) + (objectAtLocation CD_bar__plus_00_dot_33_bar__plus_00_dot_61_bar__plus_01_dot_38 loc_bar_7_bar_5_bar_3_bar_30) + (objectAtLocation Window_bar__plus_02_dot_27_bar__plus_01_dot_55_bar__minus_02_dot_92 loc_bar_9_bar__minus_9_bar_2_bar_15) + (objectAtLocation LightSwitch_bar__plus_01_dot_81_bar__plus_01_dot_17_bar__plus_01_dot_70 loc_bar_7_bar_5_bar_0_bar_45) + (objectAtLocation Blinds_bar__plus_02_dot_30_bar__plus_02_dot_53_bar__minus_02_dot_89 loc_bar_9_bar__minus_9_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o PillowType) + (receptacleType ?r ArmChairType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-Pillow-None-ArmChair-321/trial_T20190908_104935_443304/traj_data.json 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"A3F7G1FSFWQPLE_340UGXU9D1STDFR6LHXDUDVOIB3UV8", + "high_descs": [ + "Turn right and walk over to the small black table, then turn right to face the bed.", + "Pick up the closest purple pillow off of the bed.", + "Walk over to the chair in the corner of the room behind you.", + "Place the purple pillow on the left side of the seat of the chair." + ], + "task_desc": "Move a purple pillow to the seat of a chair.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3PMBY0YE2AUZUEX3WP7H8PKLKJCC9Z", + "high_descs": [ + "Walk to the table, then turn right and walk across the room, then turn right to face the bed. ", + "Pick up the pillow that is closest to the edge of the bed. ", + "Turn around and walk to the chair. ", + "Place the pillow on the chair. " + ], + "task_desc": "To put the pillow on the chair. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1SX8IVV82M0LW_3TPWUS5F8CSA6AABP0H9M9SWIK9WCL", + "high_descs": [ + "Walk to the bed on the left side.", + "Pick up the nearest purple pillow off the bed.", + "Walk to the seat on the left.", + "Place the pillow on the seat." + ], + "task_desc": "Move a pillow from the bed to the seat.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ccc4ad832f2e3518d3d484164542019c8440e67c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/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 soapbottle on garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_175640_840876)\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_79_bar__plus_01_dot_02_bar__plus_00_dot_70 - object\n Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 - object\n Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object\n ButterKnife_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 - object\n ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75 - object\n DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 - object\n DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53 - object\n Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35 - object\n Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32 - object\n Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65 - object\n Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 - object\n Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26 - object\n Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31 - object\n Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80 - object\n Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 - object\n PepperShaker_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_38 - object\n Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 - object\n Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object\n Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78 - object\n Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57 - object\n Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 - object\n SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38 - object\n Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71 - object\n Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_35 - object\n Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 - object\n StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object\n Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65 - object\n Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 - object\n Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object\n Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object\n Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle\n CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle\n CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle\n CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle\n DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle\n Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle\n Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle\n Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle\n Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle\n StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle\n Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle\n loc_bar_5_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_4_bar_0_bar_45 - location\n loc_bar_6_bar__minus_4_bar_3_bar_15 - location\n loc_bar_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_1_bar__minus_1_bar_0_bar_45 - location\n loc_bar_0_bar__minus_3_bar_3_bar_45 - location\n loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 DiningTableType)\n (receptacleType CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (objectType Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 BowlType)\n (objectType StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_41 DishSpongeType)\n (objectType Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26 LettuceType)\n (objectType SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 SaltShakerType)\n (objectType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 SinkType)\n (objectType Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 WindowType)\n (objectType Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57 PotatoType)\n (objectType Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31 MugType)\n (objectType Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 PlateType)\n (objectType LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 LightSwitchType)\n (objectType StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 KettleType)\n (objectType DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 DishSpongeType)\n (objectType StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 LettuceType)\n (objectType SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 SaltShakerType)\n (objectType PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 PaperTowelRollType)\n (objectType Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 KnifeType)\n (objectType Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75 CupType)\n (objectType Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 ForkType)\n (objectType PepperShaker_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_38 PepperShakerType)\n (objectType ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 ButterKnifeType)\n (objectType Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 SpoonType)\n (objectType Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26 LettuceType)\n (objectType Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80 MugType)\n (objectType Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 PotType)\n (objectType Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 ChairType)\n (objectType Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71 SpatulaType)\n (objectType Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 PlateType)\n (objectType Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 TomatoType)\n (objectType Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 BowlType)\n (objectType Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65 KnifeType)\n (objectType Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 WindowType)\n (objectType ButterKnife_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 ButterKnifeType)\n (objectType Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70 AppleType)\n (objectType Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17 EggType)\n (objectType SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 SoapBottleType)\n (objectType Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 KettleType)\n (objectType Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 PanType)\n (objectType Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65 TomatoType)\n (objectType Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 BreadType)\n (objectType Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_35 SpatulaType)\n (objectType Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32 KettleType)\n (objectType Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38 SpatulaType)\n (objectType StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 StoveKnobType)\n (objectType Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53 EggType)\n (objectType Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78 PotatoType)\n (objectType Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 ForkType)\n (objectType Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35 EggType)\n (objectType Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68 MugType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType KettleType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain 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(canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType 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Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle PepperShaker_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_38 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_45 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_38 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SoapBottleType)\n (receptacleType ?r GarbageCanType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take soapbottle 1 from diningtable 1", "go to garbagecan 1", "move soapbottle 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ac40c4eb222ae15a9b37d8e3f89bb42c2b303865 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175640_840876/initial_state.pddl @@ -0,0 +1,1013 @@ + +(define (problem plan_trial_T20190908_175640_840876) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - 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BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_79_bar__plus_01_dot_02_bar__plus_00_dot_70 - object + 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loc_bar_6_bar__minus_4_bar_3_bar_15 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_4_bar_3_bar_60 - location + loc_bar_6_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 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ButterKnife_bar__plus_00_dot_96_bar__plus_00_dot_92_bar__minus_01_dot_58) + (cleanable Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44) + (cleanable Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26) + (cleanable Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80) + (cleanable Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58) + (cleanable Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71) + (cleanable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (cleanable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (cleanable Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65) + (cleanable Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65) + (cleanable ButterKnife_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_58) + (cleanable Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70) + (cleanable Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17) + (cleanable Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65) + (cleanable Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_35) + (cleanable Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32) + (cleanable Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38) + (cleanable Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53) + (cleanable Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78) + (cleanable Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21) + (cleanable Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35) + (cleanable Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68) + + (heatable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57) + (heatable Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31) + (heatable Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82) + (heatable Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75) + (heatable Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80) + (heatable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (heatable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (heatable Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70) + (heatable Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17) + (heatable Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65) + (heatable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (heatable Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53) + (heatable Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78) + (heatable Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35) + (heatable Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68) + (coolable Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29) + (coolable Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26) + (coolable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57) + (coolable Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31) + (coolable Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82) + (coolable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62) + (coolable Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75) + (coolable Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26) + (coolable Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80) + (coolable Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58) + (coolable Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35) + (coolable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (coolable Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65) + (coolable Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70) + (coolable Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65) + (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (coolable Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53) + (coolable Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78) + (coolable Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35) + (coolable Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68) + + + + + + (sliceable Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26) + (sliceable Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57) + (sliceable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62) + (sliceable Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26) + (sliceable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (sliceable Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70) + (sliceable Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17) + (sliceable Tomato_bar__plus_00_dot_80_bar__plus_00_dot_97_bar__minus_01_dot_65) + (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (sliceable Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53) + (sliceable Potato_bar__plus_00_dot_80_bar__plus_00_dot_95_bar__minus_01_dot_78) + (sliceable Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35) + + (inReceptacle Spoon_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__minus_02_dot_20_bar__plus_01_dot_04_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Plate_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle PaperTowelRoll_bar__minus_02_dot_61_bar__plus_01_dot_06_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Egg_bar__minus_02_dot_07_bar__plus_00_dot_99_bar__plus_00_dot_17 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SoapBottle_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Spatula_bar__plus_00_dot_04_bar__plus_00_dot_93_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_91_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Knife_bar__plus_00_dot_01_bar__plus_00_dot_94_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bowl_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Kettle_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Mug_bar__plus_01_dot_87_bar__plus_00_dot_10_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Kettle_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle PepperShaker_bar__plus_00_dot_62_bar__plus_00_dot_11_bar__plus_00_dot_38 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Bowl_bar__plus_01_dot_79_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_01_dot_91_bar__plus_00_dot_93_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Mug_bar__minus_01_dot_03_bar__plus_01_dot_01_bar__minus_01_dot_80 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (inReceptacle Cup_bar__plus_00_dot_31_bar__plus_00_dot_77_bar__minus_01_dot_75 Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_36_bar__plus_00_dot_11_bar__plus_00_dot_53 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Potato_bar__minus_00_dot_43_bar__plus_00_dot_10_bar__plus_00_dot_57 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Mug_bar__minus_02_dot_14_bar__plus_01_dot_49_bar__minus_01_dot_68 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation 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loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + 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-1.80393767 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2703331044, + "scene_num": 11 + }, + "task_id": "trial_T20190908_175640_840876", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1S1K7134S2VUC_3T3IWE1XG9EM8UG0ZDDTJUAEI9XQT7", + "high_descs": [ + "Turn left, move to the end of the table.", + "Pick up the soap from the table.", + "Turn right, move to the green bin at the end of the counter.", + "Put the soap in the green bin." + ], + "task_desc": "Place soap into a bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3TXMY6UCAHF5MDEPDRI3UKAAUNVCQ8", + "high_descs": [ + "Walk up to the wall, then turn left to face the white table.", + "Pick up the bottle of lotion off of the white table.", + "Turn around and walk up to the counter, then look down at the green bin before the counter.", + "Put the bottle in the green bin to the right of the egg." + ], + "task_desc": "Move a bottle of lotion into a green bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3W8CV64QJ5QQBM8JIHLIJGH1XFY9HU", + "high_descs": [ + "Walk forward to the wall, then turn left towards the dining table.", + "Pick up the bottle of soap from the dining table.", + "Turn around and walk to the green garbage can in front of you.", + "Put the bottle of soap in the garbage can." + ], + "task_desc": "Throw away a bottle of soap.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8c9e9ac9700d2f4bab6d4b810dfe4f1334319079 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/initial_state.pddl @@ -0,0 +1,978 @@ + +(define (problem plan_trial_T20190908_175703_598481) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_07_bar__plus_01_dot_02_bar__plus_00_dot_44 - object + Bowl_bar__minus_02_dot_22_bar__plus_00_dot_78_bar__minus_01_dot_81 - object + Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_82 - object + Bread_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46 - object + ButterKnife_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_35 - object + Cup_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_43 - object + Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + DishSponge_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + Kettle_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_47 - object + Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_38 - object + Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_62 - object + Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_74 - object + Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_61 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__plus_00_dot_04_bar__plus_01_dot_02_bar__plus_00_dot_21 - object + PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 - object + Plate_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_51 - object + Plate_bar__minus_02_dot_05_bar__plus_00_dot_51_bar__minus_01_dot_81 - object + Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61 - object + Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85 - object + Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_57 - object + SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_33_bar__minus_01_dot_70 - object + SaltShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_58 - object + Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_70 - object + Spatula_bar__minus_02_dot_61_bar__plus_00_dot_97_bar__plus_00_dot_44 - object + Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Spoon_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_72 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26 - object + Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 - object + Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76 - object + Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object + Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle + DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle + Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle + Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle + loc_bar_5_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_4_bar_0_bar_45 - location + loc_bar_6_bar__minus_4_bar_3_bar_15 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_4_bar_3_bar_60 - location + loc_bar_6_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType) + (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType 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Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50) + (openable Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + + (atLocation agent1 loc_bar__minus_2_bar__minus_3_bar_1_bar_30) + + (cleanable Spoon_bar__plus_00_dot_65_bar__plus_00_dot_92_bar__minus_01_dot_72) + (cleanable Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67) + (cleanable Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_74) + (cleanable Plate_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_51) + (cleanable Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_38) + (cleanable Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52) + (cleanable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_61) + (cleanable Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_41) + (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58) + (cleanable ButterKnife_bar__plus_00_dot_91_bar__plus_00_dot_92_bar__minus_01_dot_65) + (cleanable Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61) + (cleanable Kettle_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_47) + (cleanable Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_62) + (cleanable Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61) + (cleanable Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85) + (cleanable Cup_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_43) + (cleanable Plate_bar__minus_02_dot_05_bar__plus_00_dot_51_bar__minus_01_dot_81) + (cleanable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44) + (cleanable Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_70) + (cleanable Bowl_bar__minus_02_dot_22_bar__plus_00_dot_78_bar__minus_01_dot_81) + (cleanable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (cleanable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26) + (cleanable DishSponge_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76) + (cleanable Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_35) + (cleanable Spatula_bar__minus_02_dot_61_bar__plus_00_dot_97_bar__plus_00_dot_44) + + (heatable Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67) + (heatable Plate_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_51) + (heatable Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52) + (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58) + (heatable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_82) + (heatable Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61) + (heatable Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85) + (heatable Cup_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_43) + (heatable Plate_bar__minus_02_dot_05_bar__plus_00_dot_51_bar__minus_01_dot_81) + (heatable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44) + (heatable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (heatable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26) + (heatable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76) + (heatable Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_35) + (heatable Bread_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46) + (coolable Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67) + (coolable Plate_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_51) + (coolable Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52) + (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_61) + (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58) + (coolable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_82) + (coolable Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61) + (coolable Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85) + (coolable Cup_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_43) + (coolable Plate_bar__minus_02_dot_05_bar__plus_00_dot_51_bar__minus_01_dot_81) + (coolable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44) + (coolable Bowl_bar__minus_02_dot_22_bar__plus_00_dot_78_bar__minus_01_dot_81) + (coolable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76) + (coolable Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_35) + (coolable Bread_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46) + + + + + + (sliceable Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67) + (sliceable Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_61) + (sliceable Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_82) + (sliceable Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61) + (sliceable Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85) + (sliceable Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44) + (sliceable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52) + (sliceable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26) + (sliceable Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76) + (sliceable Bread_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46) + + (inReceptacle SaltShaker_bar__minus_00_dot_42_bar__plus_01_dot_33_bar__minus_01_dot_70 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacle Fork_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Apple_bar__minus_02_dot_07_bar__plus_01_dot_02_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__minus_02_dot_48_bar__plus_01_dot_04_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Spatula_bar__minus_02_dot_61_bar__plus_00_dot_97_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Tomato_bar__minus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle DishSponge_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Kettle_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_04_bar__plus_01_dot_02_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_01_dot_66_bar__plus_00_dot_94_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle SaltShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle PepperShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spoon_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Cup_bar__plus_01_dot_91_bar__plus_00_dot_11_bar__plus_00_dot_35 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Plate_bar__minus_00_dot_20_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Cup_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_43 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Bread_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_46 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Egg_bar__minus_00_dot_98_bar__plus_01_dot_05_bar__minus_01_dot_67 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (inReceptacle Potato_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Plate_bar__minus_02_dot_05_bar__plus_00_dot_51_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Potato_bar__minus_02_dot_14_bar__plus_01_dot_52_bar__minus_01_dot_85 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Tomato_bar__minus_02_dot_14_bar__plus_01_dot_10_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Bowl_bar__minus_02_dot_22_bar__plus_00_dot_78_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation 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loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + 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loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Mug_bar__minus_00_dot_59_bar__plus_00_dot_11_bar__minus_01_dot_58 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SoapBottleType) + (receptacleType ?r GarbageCanType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..550ab6ec26bb511efc812019cd1a2fd2b750a305 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-GarbageCan-11/trial_T20190908_175703_598481/traj_data.json @@ -0,0 +1,2545 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_7922e01e", + "position": { + "x": 0.39424172, + "y": 0.109727383, + "z": -1.4721024 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_923adba4", + "position": { + "x": -1.92895365, + "y": 0.9506611, + "z": 0.5249964 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_929aede3", + "position": { + "x": -2.135, + "y": 1.10084748, + "z": -1.76346016 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_09398926", + "position": { + "x": 0.7531951, + "y": 0.918246448, + "z": -1.582726 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_c3590fed", + "position": { + "x": -2.0475, + "y": 0.5121604, + "z": -1.80632138 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_da74902f", + "position": { + "x": 1.0071, + "y": 0.962147355, + "z": 0.5617 + }, + "rotation": { + "x": 0.0, + "y": 269.9999, + "z": 0.0 + } + }, + { + "objectName": "Spatula_b4e2a06a", + "position": { + "x": -2.203, + "y": 0.9672249, + "z": 0.704894543 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_54f2d061", + "position": { + "x": 0.0353682637, + "y": 1.01658535, + "z": 0.209457338 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c2e9408", + "position": { + "x": -0.975880742, + "y": 1.050615, + "z": -1.67189026 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_22e053cf", + "position": { + "x": -2.47704625, + "y": 1.04246557, + "z": 0.614945531 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_42ce5824", + "position": { + "x": -0.4189759, + "y": 1.325041, + "z": -1.699403 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_213d034a", + "position": { + "x": 1.658355, + "y": 0.9086062, + "z": -1.6548 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_41d4caea", + "position": { + "x": -2.06597686, + "y": 1.0193764, + "z": 0.4350474 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d4975865", + "position": { + "x": 0.9085692, + "y": 0.9195921, + "z": -1.64917481 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_483d2614", + "position": { + "x": -0.394602776, + "y": 0.100041717, + "z": 0.612647057 + }, + "rotation": { + "x": 0.0, + "y": 89.99995, + "z": 0.0 + } + }, + { + "objectName": "Pan_4b842b85", + "position": { + "x": 1.022105, + "y": 0.9591456, + "z": 0.288545281 + }, + "rotation": { + "x": 0.0, + "y": 219.19072, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_932ef12a", + "position": { + "x": -2.47704625, + "y": 0.95178926, + "z": 0.255149275 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9fcd93ca", + "position": { + "x": 0.6496123, + "y": 0.9206794, + "z": -1.71562362 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_841024df", + "position": { + "x": -0.586564064, + "y": 0.105885565, + "z": -1.58258522 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3295511897, + "scene_num": 11 + }, + "task_id": "trial_T20190908_175703_598481", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_39LNWE0K4XNOR976MAYUFO5UAEJIUL", + "high_descs": [ + "Go forward, then turn right of the sink.", + "Pick up the soap bottle from the sink.", + "Turn right and go forward, then turn right to go to the trash bin.", + "Put the soap bottle in the trash bin." + ], + "task_desc": "Put a bottle of soap in the trash.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3PWWM24LHVPMIRMRU4CXWGGOORP289", + "high_descs": [ + "Cross the room and head to the sink on the right.", + "Pick up the bottle of soap from the left side of the sink.", + "Turn right, hang a right at the microwave and turn right at the wall to face the green container on the floor.", + "Put the bottle of soap inside the green container." + ], + "task_desc": "Place a soap bottle in a container.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3TDXMTX3CEL3PYH5QS0RZIRE7TEI6Y", + "high_descs": [ + "Go to the sink.", + "Pick up the lotion bottle.", + "Take the bottle to the waste bin.", + "Put the bottle in the bin." + ], + "task_desc": "Throw away the bottle of lotion.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a1a2b92eac3abc7409044df011a88d5532789a11 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/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 soapbottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_201712_940852)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 - object\n Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object\n SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 - object\n SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 - object\n ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar_1_bar__minus_10_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType)\n (objectType SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType)\n (objectType SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 SoapBarType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 TissueBoxType)\n (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 SoapBarType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 CandleType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 ToiletPaperType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (pickupable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (pickupable SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14)\n (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85)\n (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83)\n \n \n \n (atLocation agent1 loc_bar_1_bar__minus_10_bar_1_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26)\n (cleanable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (cleanable SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61)\n (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin)\n (inReceptacle Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SoapBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 3", "take soapbottle 1 from shelf 3", "go to toilet 1", "move soapbottle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e025e6010d5b4b5bb13b689e2826054487d3c687 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/initial_state.pddl @@ -0,0 +1,423 @@ + +(define (problem plan_trial_T20190906_201712_940852) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 - object + Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 - object + SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_1_bar__minus_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 ClothType) + (objectType SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SoapBarType) + (objectType SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 SoapBarType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 ToiletPaperType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 TissueBoxType) + (objectType SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 SoapBarType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 CandleType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType) + (objectType ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 ToiletPaperType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26) + (pickupable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14) + (pickupable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85) + (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83) + + + + (atLocation agent1 loc_bar_1_bar__minus_10_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26) + (cleanable SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (cleanable SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61) + (cleanable SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin) + (inReceptacle Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_02_dot_15_bar__plus_00_dot_83_bar__minus_00_dot_61 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_03_dot_26 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_85 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SoapBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3f918c4d4250b327f2b23ed69a050f583ebd7f6b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190906_201712_940852/traj_data.json @@ -0,0 +1,2621 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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", + "Turn around, then turn left toward the toilet.", + "Place the hand soap on the back of the toilet, to the right of the candle. " + ], + "task_desc": "Put hand soap on the back of the toilet. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6dfc3eba66b030647adb2722ffdc66a0b3173cb8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/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 soapbottle on toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190911_233539_300314)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 - object\n Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 - object\n Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 - object\n SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 - object\n SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 - object\n SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 - object\n SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 - object\n TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 - object\n TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar_3_bar__minus_13_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType)\n (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 ClothType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 SoapBottleType)\n (objectType SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 SoapBarType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType)\n (objectType SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 SoapBottleType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 CandleType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 SoapBottleType)\n (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType)\n (objectType Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 CandleType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType)\n (objectType SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 SprayBottleType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87)\n (pickupable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83)\n (pickupable SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17)\n (pickupable Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62)\n (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72)\n (pickupable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42)\n \n \n \n (atLocation agent1 loc_bar_3_bar__minus_13_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11)\n (cleanable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40)\n (cleanable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SoapBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take soapbottle 2 from shelf 2", "go to toilet 1", "move soapbottle 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9918721eadfed78816f095fc6bebd0c83c816470 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/initial_state.pddl @@ -0,0 +1,439 @@ + +(define (problem plan_trial_T20190911_233539_300314) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 - object + Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 - object + SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 - object + SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 - object + SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 - object + TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 - object + TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_3_bar__minus_13_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 ClothType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 SoapBarType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 TissueBoxType) + (objectType SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 SoapBottleType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 CandleType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 SoapBottleType) + (objectType TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType) + (objectType Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 CandleType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 SprayBottleType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87) + (pickupable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83) + (pickupable SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17) + (pickupable Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62) + (pickupable TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42) + + + + (atLocation agent1 loc_bar_3_bar__minus_13_bar_3_bar_30) + + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68) + (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11) + (cleanable SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40) + (cleanable Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation TissueBox_bar__minus_01_dot_76_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_25_bar__plus_00_dot_82_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_97_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_78_bar__plus_00_dot_82_bar__minus_00_dot_62 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__minus_02_dot_11 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_20_bar__plus_00_dot_04_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_30) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_42 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_81_bar__plus_00_dot_82_bar__minus_00_dot_83 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_07_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SoapBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..d15c6621ce3139c24e5149cc2055ecb00c44ebce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233539_300314/traj_data.json @@ -0,0 +1,2581 @@ +{ + "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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], + "object_toggles": [], + "random_seed": 4024457848, + "scene_num": 429 + }, + "task_id": "trial_T20190911_233539_300314", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3PH3VY7DJOEFTEZNL6C0WL9FWDJZWZ", + "high_descs": [ + "Turn around and go to the dresser directly in front of you.", + "Take the soap bottle from the dresser.", + "Turn around, go toward the tub in front of you, then turn left and left again to reach the toilet.", + "Place the soap on the back of the toilet, to the left of the cylinder. " + ], + "task_desc": "Put soap on the back of the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A22ON3MIIG0IJA_3VJ40NV2QL4B2THMOSW8T3VC8DMOTG", + "high_descs": [ + "Turn right and walk to the stand with the soap dispenser on it, then turn right to face it.", + "Pick up the soap dispenser from the stand.", + "Turn around and walk to the bathtub then turn left and walk to the wall then turn left and face the toilet.", + "Put the soap dispenser on top of the toilet tank." + ], + "task_desc": "Put a soap dispenser on top of the toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3YT88D1N0BFNDLYDBLYO49A5U8R3KK", + "high_descs": [ + "Turn right and walk toward the closer bottle of soap.", + "Pick up the bottle of soap.", + "Turn around and walk to the toilet.", + "Put the bottle of soap on the top of the toilet, to the left of the empty toilet paper roll." + ], + "task_desc": "Put a bottle of soap on the top of the toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..1a26f70a963fb15894b414ca3752677b780055b4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/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 soapbottle in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190911_233558_113756)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object\n Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 - object\n Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 - object\n Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 - object\n Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 - object\n Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 - object\n Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object\n Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object\n HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object\n LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object\n Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object\n Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object\n ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object\n ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object\n SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 - object\n SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 - object\n SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 - object\n SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object\n SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object\n TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 - object\n TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 - object\n ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object\n ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 - object\n Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object\n Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object\n Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle\n GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle\n HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle\n Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle\n Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle\n Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle\n Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle\n Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle\n TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle\n loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location\n loc_bar_1_bar__minus_2_bar_0_bar_30 - location\n loc_bar_1_bar__minus_7_bar_1_bar_60 - location\n loc_bar_1_bar__minus_4_bar_1_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location\n loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location\n loc_bar_1_bar__minus_11_bar_2_bar_30 - location\n loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType)\n (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType)\n (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType)\n (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType)\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType)\n (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType)\n (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType)\n (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType)\n (objectType ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType)\n (objectType SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 ToiletPaperType)\n (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType)\n (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType)\n (objectType TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 TissueBoxType)\n (objectType SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 SoapBottleType)\n (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType)\n (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType)\n (objectType Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 CandleType)\n (objectType SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 SoapBarType)\n (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 ClothType)\n (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType)\n (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 ClothType)\n (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType)\n (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType)\n (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType)\n (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType)\n (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType)\n (objectType SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SprayBottleType)\n (objectType Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType)\n (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType)\n (objectType TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 TissueBoxType)\n (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType)\n (canContain TowelHolderType TowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (pickupable ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82)\n (pickupable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (pickupable ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52)\n (pickupable SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72)\n (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11)\n (pickupable Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82)\n (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11)\n (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04)\n (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89)\n (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91)\n (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68)\n (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19)\n (pickupable SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08)\n (pickupable Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87)\n (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98)\n (pickupable TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77)\n \n \n \n (atLocation agent1 loc_bar_0_bar__minus_4_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93)\n (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82)\n (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11)\n (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97)\n (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00)\n (inReceptacle TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76)\n (inReceptacle TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61)\n (inReceptacle ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14)\n (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00)\n (inReceptacle ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44)\n (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30)\n (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 loc_bar__minus_5_bar__minus_4_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60)\n (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (inReceptacle ?o ?r)\n (objectType ?o SoapBottleType)\n (receptacleType ?r ToiletType)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to shelf 2", "take soapbottle 1 from shelf 2", "go to toilet 1", "move soapbottle 1 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..46d8d9d404f09329008b70a7e53c15db55a89b33 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/initial_state.pddl @@ -0,0 +1,449 @@ + +(define (problem plan_trial_T20190911_233558_113756) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 - object + Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 - object + Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 - object + Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 - object + Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 - object + Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 - object + Faucet_bar__minus_01_dot_91_bar__plus_00_dot_67_bar__minus_03_dot_86 - object + Faucet_bar__minus_02_dot_43_bar__plus_00_dot_98_bar__minus_00_dot_66 - object + HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 - object + Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 - object + Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 - object + ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 - object + ShowerCurtain_bar__minus_01_dot_32_bar__plus_01_dot_78_bar__minus_03_dot_86 - object + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 - object + SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 - object + SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 - object + SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 - object + SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 - object + SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 - object + TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 - object + TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 - object + ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 - object + ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 - object + Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 - object + Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 - object + Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin - receptacle + GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 - receptacle + HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 - receptacle + Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 - receptacle + Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 - receptacle + Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 - receptacle + Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 - receptacle + Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 - receptacle + TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 - receptacle + loc_bar__minus_5_bar__minus_3_bar_0_bar_60 - location + loc_bar_1_bar__minus_2_bar_0_bar_30 - location + loc_bar_1_bar__minus_7_bar_1_bar_60 - location + loc_bar_1_bar__minus_4_bar_1_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_6_bar__minus_3_bar_0_bar_0 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_13_bar_2_bar_60 - location + loc_bar_1_bar__minus_11_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 TowelHolderType) + (receptacleType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin BathtubBasinType) + (receptacleType HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 HandTowelHolderType) + (receptacleType Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 ShelfType) + (receptacleType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 GarbageCanType) + (receptacleType ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 ToiletPaperHangerType) + (receptacleType Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 ToiletType) + (receptacleType Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 ShelfType) + (receptacleType Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 ShelfType) + (objectType ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 ToiletPaperType) + (objectType SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 ToiletPaperType) + (objectType LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 LightSwitchType) + (objectType ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 ScrubBrushType) + (objectType TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 TissueBoxType) + (objectType SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 SoapBottleType) + (objectType Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelType) + (objectType Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 BathtubType) + (objectType Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 CandleType) + (objectType SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 SoapBarType) + (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 ClothType) + (objectType HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 ToiletPaperType) + (objectType Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 ClothType) + (objectType Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 SinkType) + (objectType Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 PlungerType) + (objectType Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 ClothType) + (objectType TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 TissueBoxType) + (objectType Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 MirrorType) + (objectType SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 SprayBottleType) + (objectType Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 CandleType) + (objectType SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 SprayBottleType) + (objectType TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 TissueBoxType) + (objectType Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 WindowType) + (canContain TowelHolderType TowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain HandTowelHolderType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (pickupable ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82) + (pickupable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93) + (pickupable ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52) + (pickupable SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72) + (pickupable Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11) + (pickupable Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93) + (pickupable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82) + (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11) + (pickupable HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04) + (pickupable ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89) + (pickupable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97) + (pickupable Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91) + (pickupable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68) + (pickupable TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19) + (pickupable SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08) + (pickupable Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87) + (pickupable SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98) + (pickupable TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77) + + + + (atLocation agent1 loc_bar_0_bar__minus_4_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93) + (cleanable SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82) + (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11) + (cleanable Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97) + (cleanable Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68) + + + + + + + + + + + (inReceptacle Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00) + (inReceptacle TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76) + (inReceptacle TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61) + (inReceptacle ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14) + (inReceptacle HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00) + (inReceptacle ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44) + (inReceptacle Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + (inReceptacle SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12_bar_BathtubBasin loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_51_bar_00_dot_00_bar__minus_03_dot_76 loc_bar__minus_2_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_17_bar__plus_01_dot_60_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__plus_00_dot_81_bar__plus_00_dot_81_bar__minus_00_dot_61 loc_bar_1_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__plus_00_dot_82_bar__plus_00_dot_81_bar__minus_01_dot_76 loc_bar_1_bar__minus_7_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_57_bar__plus_00_dot_81_bar__minus_00_dot_14 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66_bar_SinkBasin loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_46_bar__plus_00_dot_84_bar__minus_03_dot_98 loc_bar_1_bar__minus_11_bar_2_bar_30) + (receptacleAtLocation Toilet_bar__plus_00_dot_00_bar_00_dot_00_bar__minus_03_dot_44 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_53_bar__plus_01_dot_67_bar__plus_00_dot_00 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation ToiletPaper_bar__plus_00_dot_41_bar__plus_00_dot_73_bar__minus_03_dot_89 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation TissueBox_bar__plus_00_dot_84_bar__plus_00_dot_82_bar__minus_00_dot_52 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__minus_01_dot_98 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_01_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_82_bar__plus_00_dot_82_bar__minus_01_dot_87 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_68 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation TissueBox_bar__plus_00_dot_85_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_1_bar__minus_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_64_bar__plus_00_dot_04_bar__minus_02_dot_97 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_02_dot_17_bar__plus_00_dot_30_bar__minus_00_dot_66 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_02_dot_12_bar__minus_00_dot_09_bar__minus_03_dot_12 loc_bar__minus_4_bar__minus_12_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_02_dot_50_bar__plus_01_dot_42_bar__minus_00_dot_70 loc_bar__minus_6_bar__minus_3_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_82_bar__minus_00_dot_72 loc_bar_1_bar__minus_4_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_86_bar__plus_00_dot_04_bar__minus_02_dot_11 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_00_dot_13_bar__plus_00_dot_95_bar__minus_03_dot_93 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_17_bar__plus_01_dot_50_bar__minus_00_dot_04 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation Towel_bar__minus_01_dot_53_bar__plus_01_dot_69_bar__minus_00_dot_11 loc_bar__minus_6_bar__minus_3_bar_0_bar_0) + (objectAtLocation SoapBar_bar__minus_02_dot_09_bar__plus_00_dot_04_bar__minus_01_dot_82 loc_bar__minus_5_bar__minus_4_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_05_bar__plus_00_dot_95_bar__minus_03_dot_82 loc_bar__minus_2_bar__minus_13_bar_1_bar_60) + (objectAtLocation Plunger_bar__plus_00_dot_85_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_66_bar__plus_00_dot_82_bar__minus_00_dot_08 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_45_bar__plus_00_dot_82_bar__minus_00_dot_19 loc_bar__minus_5_bar__minus_3_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_32_bar__plus_01_dot_33_bar__plus_00_dot_00 loc_bar_1_bar__minus_2_bar_0_bar_30) + (objectAtLocation Window_bar__minus_00_dot_54_bar__plus_01_dot_63_bar__minus_04_dot_00 loc_bar__minus_2_bar__minus_13_bar_2_bar_0) + (objectAtLocation ScrubBrush_bar__plus_00_dot_68_bar_00_dot_00_bar__minus_03_dot_91 loc_bar_1_bar__minus_11_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o SoapBottleType) + (receptacleType ?r ToiletType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..2c1fa9101cefe2ddb0fc1d50e1186de5bedd2609 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-SoapBottle-None-Toilet-429/trial_T20190911_233558_113756/traj_data.json @@ -0,0 +1,2602 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_4c7645bc", + "position": { + "x": 0.4052499, + "y": 0.729898334, + "z": -3.88590622 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 270.0 + } + }, + { + "objectName": "ScrubBrush_648b2f70", + "position": { + "x": 0.684140265, + "y": -0.00058028847, + "z": -3.90567446 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1160068381, + "scene_num": 429 + }, + "task_id": "trial_T20190911_233558_113756", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3KGTPGBS602CVZ761ZOLRMEBQKDU2J", + "high_descs": [ + "Look left and approach the left most cabinet with a pink bottle on it", + "Pick up the pink bottle from the cabinet", + "Turn around and walk over to the toilet", + "Put the pink bottle on the back of the toilet" + ], + "task_desc": "Put the pink bottle on the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3Q5ZZ9ZEVRW6WZJGGFPET1ZYD4A85I", + "high_descs": [ + "turn left to face the white cabinet", + "grab the soap dispenser off of the white cabinet", + "walk over to the toilet", + "place the soap dispenser on top of the toilet" + ], + "task_desc": "place a soap dispenser on top of the toilet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2XSGALF8O9ISQ_3VHHR074H6YGYAHIYXDFWQZ0O9W7L8", + "high_descs": [ + "Standing in the room look around you and then look to your left at the soap dispensper", + "Pick up the soap", + "Walk to the sink behind you, turn left walking toward the toilet, turning left again", + "Place the soap on the shelf behind the toilet" + ], + "task_desc": "Get the soap from the shelf by the door to the shelf by the toilet ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fe6d1da73bdc19bede63219b17930decde4fdeab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/initial_state.pddl @@ -0,0 +1,594 @@ + +(define (problem plan_trial_T20190906_193139_382057) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + 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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Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 - object + Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 - object + WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 - object + Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 - object + Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 - object + Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 - object + ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 - receptacle + Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 - receptacle + DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 - receptacle + Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 - receptacle + Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 - receptacle + Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 - receptacle + TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 - receptacle + loc_bar__minus_11_bar_16_bar_3_bar_60 - location + loc_bar__minus_9_bar_20_bar_0_bar_60 - location + loc_bar__minus_1_bar_12_bar_0_bar_60 - location + loc_bar__minus_8_bar_12_bar_0_bar_60 - location + loc_bar__minus_1_bar_20_bar_0_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_11_bar_14_bar_2_bar_60 - location + loc_bar__minus_15_bar_7_bar_3_bar_0 - location + loc_bar__minus_10_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_10_bar_1_bar_2_bar_60 - location + loc_bar__minus_11_bar_4_bar_3_bar_0 - location + loc_bar__minus_2_bar_10_bar_2_bar_60 - location + loc_bar__minus_15_bar_10_bar_3_bar_0 - location + loc_bar__minus_14_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_18_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_60 - location + loc_bar__minus_10_bar_1_bar_2_bar_0 - location + loc_bar__minus_10_bar__minus_12_bar_0_bar_60 - location + loc_bar_0_bar_11_bar_2_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_60 - location + loc_bar__minus_14_bar_3_bar_3_bar_45 - location + loc_bar__minus_14_bar_4_bar_3_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_0_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_0 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_45 - location + loc_bar__minus_12_bar_21_bar_0_bar_0 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar_2_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 DiningTableType) + (receptacleType TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 SofaType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 GarbageCanType) + (receptacleType Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 ShelfType) + (receptacleType Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 DeskType) + (receptacleType ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 ArmChairType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 CoffeeTableType) + (receptacleType Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 SafeType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 ShelfType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 ShelfType) + (receptacleType Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 SofaType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (objectType Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 StatueType) + (objectType Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 PillowType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TelevisionType) + (objectType LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 LightSwitchType) + (objectType Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 ChairType) + (objectType RemoteControl_bar__minus_00_dot_85_bar__plus_00_dot_74_bar__plus_01_dot_20 RemoteControlType) + (objectType HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 HousePlantType) + (objectType Laptop_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_03_dot_91 LaptopType) + (objectType CellPhone_bar__minus_00_dot_24_bar__plus_00_dot_70_bar__plus_05_dot_43 CellPhoneType) + (objectType Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 VaseType) + (objectType Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 ChairType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 VaseType) + (objectType Statue_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_20 StatueType) + (objectType Pillow_bar__minus_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02 PillowType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 ChairType) + (objectType KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_03_bar__minus_00_dot_07 KeyChainType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 PaintingType) + (objectType Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 ChairType) + (objectType FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 FloorLampType) + (objectType Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 WindowType) + (objectType KeyChain_bar__minus_02_dot_24_bar__plus_00_dot_66_bar__minus_02_dot_07 KeyChainType) + (objectType Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 ChairType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_69 CreditCardType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_33 BoxType) + (objectType Statue_bar__minus_02_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_95 StatueType) + (objectType Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 ChairType) + (objectType Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 ChairType) + (objectType Box_bar__minus_03_dot_69_bar__plus_00_dot_68_bar__plus_03_dot_35 BoxType) + (objectType Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType Vase_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__plus_05_dot_65 VaseType) + (objectType Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 PaintingType) + (objectType WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 WateringCanType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 VaseType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DeskType VaseType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType RemoteControlType) + (canContain DeskType StatueType) + (canContain DeskType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType VaseType) + (canContain SafeType CreditCardType) + (canContain SafeType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (pickupable Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40) + (pickupable Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92) + (pickupable RemoteControl_bar__minus_00_dot_85_bar__plus_00_dot_74_bar__plus_01_dot_20) + (pickupable Laptop_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_03_dot_91) + (pickupable CellPhone_bar__minus_00_dot_24_bar__plus_00_dot_70_bar__plus_05_dot_43) + (pickupable Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38) + (pickupable Statue_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_20) + (pickupable Pillow_bar__minus_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02) + (pickupable KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_03_bar__minus_00_dot_07) + (pickupable KeyChain_bar__minus_02_dot_24_bar__plus_00_dot_66_bar__minus_02_dot_07) + (pickupable CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_69) + (pickupable Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_33) + (pickupable Statue_bar__minus_02_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_95) + (pickupable Box_bar__minus_03_dot_69_bar__plus_00_dot_68_bar__plus_03_dot_35) + (pickupable Vase_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__plus_05_dot_65) + (pickupable WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76) + (isReceptacleObject Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_33) + (isReceptacleObject Box_bar__minus_03_dot_69_bar__plus_00_dot_68_bar__plus_03_dot_35) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + (atLocation agent1 loc_bar__minus_9_bar_2_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacle Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77) + (inReceptacle Laptop_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_03_dot_91 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_33 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle KeyChain_bar__minus_02_dot_24_bar__plus_00_dot_66_bar__minus_02_dot_07 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Statue_bar__minus_02_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_95 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_69 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Statue_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_20 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle RemoteControl_bar__minus_00_dot_85_bar__plus_00_dot_74_bar__plus_01_dot_20 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle CellPhone_bar__minus_00_dot_24_bar__plus_00_dot_70_bar__plus_05_dot_43 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Vase_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__plus_05_dot_65 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Box_bar__minus_03_dot_69_bar__plus_00_dot_68_bar__plus_03_dot_35 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Pillow_bar__minus_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_03_bar__minus_00_dot_07 Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 loc_bar__minus_11_bar_14_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 loc_bar__minus_2_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 loc_bar_0_bar_11_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (receptacleAtLocation Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 loc_bar__minus_14_bar_3_bar_3_bar_45) + (receptacleAtLocation Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 loc_bar__minus_9_bar_20_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_03_dot_59_bar__plus_00_dot_64_bar__plus_05_dot_02 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_24_bar__plus_00_dot_66_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_56_bar__plus_00_dot_95_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_69_bar__plus_00_dot_68_bar__plus_03_dot_35 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 loc_bar__minus_4_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 loc_bar__minus_14_bar_1_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 loc_bar__minus_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 loc_bar__minus_7_bar__minus_12_bar_2_bar_15) + (objectAtLocation Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_7_bar__minus_5_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_1_bar_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 loc_bar__minus_10_bar__minus_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 loc_bar__minus_10_bar__minus_5_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 loc_bar_1_bar_18_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_45_bar__plus_00_dot_70_bar__plus_05_dot_65 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_24_bar__plus_00_dot_70_bar__plus_05_dot_43 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_50 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_25_bar__plus_00_dot_03_bar__minus_00_dot_07 loc_bar__minus_3_bar_2_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_97_bar__plus_00_dot_45_bar__plus_03_dot_91 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 loc_bar__minus_15_bar_7_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_12_bar_21_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 loc_bar__minus_15_bar_10_bar_3_bar_0) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_1_bar_20_bar_0_bar_0) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 loc_bar__minus_12_bar_21_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_00_dot_85_bar__plus_00_dot_74_bar__plus_01_dot_20 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_11_bar__plus_00_dot_74_bar__plus_01_dot_69 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_11_bar__minus_4_bar_0_bar_15) + (objectAtLocation Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 loc_bar__minus_14_bar_4_bar_3_bar_30) + (objectAtLocation Statue_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_20 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_24_bar__plus_00_dot_76_bar__minus_01_dot_95 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WateringCanType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..89e8af31cb11d9651c36983f9577a8192aacae7d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193139_382057/traj_data.json @@ -0,0 +1,3465 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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couch.", + "Pick up the watering can that is on the ground to the right of the couch.", + "Turn around and walk around the coffee table to the black desk.", + "Place the the watering can on the black desk opposite the side where the chair is pulled in." + ], + "task_desc": "Move a watering can onto the black desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3OVR4I9USS0U6KFCO4N4A0EK7CH4QW", + "high_descs": [ + "Turn right and walk around the sofa chair, walk to the corner with plants", + "Take the pot by the plant", + "Turn around and walk to the black office table", + "Put the pot on the table" + ], + "task_desc": "Move the pot from the corner with the plant to the black office table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3R0T90IZ1VT6OZYDENOAZKM6T4RGCW", + "high_descs": [ + "Move to the plant in the corner next to the couch. ", + "Pick up the white water can from the floor. ", + "Bring he water can to the black desk.", + "Put the water can on the black desk. " + ], + "task_desc": "Put a white water can on the black desk. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..645ccf6f3333fd74a02bc6c47dbce31df7c53718 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/initial_state.pddl @@ -0,0 +1,620 @@ + +(define (problem plan_trial_T20190906_193241_476804) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40 - object + Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46 - object + Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42 - object + CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_69 - object + CellPhone_bar__minus_03_dot_69_bar__plus_00_dot_40_bar__plus_03_dot_88 - object + CellPhone_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 - object + Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 - object + Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 - object + Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 - object + Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 - object + Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 - object + Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 - object + Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 - object + CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_06_dot_01 - object + FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 - object + HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 - object + KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_33_bar__plus_01_dot_10 - object + KeyChain_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_60 - object + KeyChain_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_46 - object + Lamp_bar__plus_00_dot_28_bar__plus_00_dot_73_bar__plus_01_dot_38 - object + Laptop_bar__minus_01_dot_33_bar__plus_00_dot_65_bar__minus_01_dot_82 - object + Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_07 - object + Laptop_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_70 - object + LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 - object + Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 - object + Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 - object + Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 - object + RemoteControl_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_20 - object + Statue_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__plus_06_dot_07 - object + Statue_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_30 - object + Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 - object + Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 - object + Vase_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_69 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 - object + Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 - object + WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 - object + Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 - object + Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 - object + Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 - object + Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 - object + Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 - object + ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 - receptacle + CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 - receptacle + Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 - receptacle + DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 - receptacle + Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 - receptacle + GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 - receptacle + Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 - receptacle + Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 - receptacle + Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 - receptacle + Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 - receptacle + TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 - receptacle + loc_bar__minus_11_bar_16_bar_3_bar_60 - location + loc_bar__minus_9_bar_20_bar_0_bar_60 - location + loc_bar__minus_1_bar_12_bar_0_bar_60 - location + loc_bar__minus_7_bar_20_bar_2_bar_60 - location + loc_bar__minus_8_bar_12_bar_0_bar_60 - location + loc_bar__minus_1_bar_20_bar_0_bar_0 - location + loc_bar__minus_7_bar__minus_4_bar_2_bar_60 - location + loc_bar__minus_11_bar_14_bar_2_bar_60 - location + loc_bar__minus_15_bar_7_bar_3_bar_0 - location + loc_bar__minus_10_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_7_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_0_bar_60 - location + loc_bar__minus_5_bar_2_bar_2_bar_0 - location + loc_bar__minus_11_bar__minus_4_bar_0_bar_15 - location + loc_bar__minus_10_bar_1_bar_2_bar_60 - location + loc_bar__minus_11_bar_4_bar_3_bar_0 - location + loc_bar__minus_2_bar_10_bar_2_bar_60 - location + loc_bar__minus_15_bar_10_bar_3_bar_0 - location + loc_bar__minus_14_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_18_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_60 - location + loc_bar__minus_10_bar_1_bar_2_bar_0 - location + loc_bar__minus_10_bar__minus_12_bar_0_bar_60 - location + loc_bar_0_bar_11_bar_2_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_60 - location + loc_bar__minus_14_bar_3_bar_3_bar_45 - location + loc_bar__minus_14_bar_4_bar_3_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_0_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_0 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_45 - location + loc_bar__minus_12_bar_21_bar_0_bar_0 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_7_bar__minus_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 DiningTableType) + (receptacleType TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 SofaType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 GarbageCanType) + (receptacleType Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 ShelfType) + (receptacleType Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 DeskType) + (receptacleType ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 ArmChairType) + (receptacleType CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 CoffeeTableType) + (receptacleType Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 SafeType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 ShelfType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 ShelfType) + (receptacleType Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 SofaType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 DrawerType) + (objectType Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40 BoxType) + (objectType Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 StatueType) + (objectType RemoteControl_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_20 RemoteControlType) + (objectType Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_07 LaptopType) + (objectType Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 PillowType) + (objectType Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 WindowType) + (objectType Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TelevisionType) + (objectType Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46 BoxType) + (objectType LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 LightSwitchType) + (objectType KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_33_bar__plus_01_dot_10 KeyChainType) + (objectType Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 ChairType) + (objectType HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 HousePlantType) + (objectType Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 VaseType) + (objectType KeyChain_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_60 KeyChainType) + (objectType Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 ChairType) + (objectType WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 WateringCanType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 VaseType) + (objectType Statue_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_30 StatueType) + (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_69 CellPhoneType) + (objectType Statue_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__plus_06_dot_07 StatueType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 WindowType) + (objectType Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 ChairType) + (objectType Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 PaintingType) + (objectType Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 WindowType) + (objectType Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 ChairType) + (objectType FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 FloorLampType) + (objectType Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 WindowType) + (objectType CellPhone_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 CellPhoneType) + (objectType CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_06_dot_01 CreditCardType) + (objectType Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 ChairType) + (objectType KeyChain_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_46 KeyChainType) + (objectType Vase_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_69 VaseType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 WindowType) + (objectType Laptop_bar__minus_01_dot_33_bar__plus_00_dot_65_bar__minus_01_dot_82 LaptopType) + (objectType Laptop_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_70 LaptopType) + (objectType Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 WindowType) + (objectType CellPhone_bar__minus_03_dot_69_bar__plus_00_dot_40_bar__plus_03_dot_88 CellPhoneType) + (objectType Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 ChairType) + (objectType Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 ChairType) + (objectType Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 PaintingType) + (objectType Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 WindowType) + (objectType Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42 BoxType) + (objectType Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 VaseType) + (canContain DiningTableType VaseType) + (canContain DiningTableType BoxType) + (canContain DiningTableType CellPhoneType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType StatueType) + (canContain DiningTableType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DeskType VaseType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType LaptopType) + (canContain DeskType RemoteControlType) + (canContain DeskType StatueType) + (canContain DeskType WateringCanType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType CellPhoneType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain CoffeeTableType WateringCanType) + (canContain SafeType CellPhoneType) + (canContain SafeType KeyChainType) + (canContain SafeType VaseType) + (canContain SafeType CreditCardType) + (canContain SafeType StatueType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ShelfType WateringCanType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType CellPhoneType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType WateringCanType) + (pickupable Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40) + (pickupable Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40) + (pickupable RemoteControl_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_20) + (pickupable Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_07) + (pickupable Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92) + (pickupable Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46) + (pickupable KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_33_bar__plus_01_dot_10) + (pickupable Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18) + (pickupable KeyChain_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_60) + (pickupable WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38) + (pickupable Statue_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_30) + (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_69) + (pickupable Statue_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__plus_06_dot_07) + (pickupable CellPhone_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92) + (pickupable CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_06_dot_01) + (pickupable KeyChain_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_46) + (pickupable Vase_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_69) + (pickupable Laptop_bar__minus_01_dot_33_bar__plus_00_dot_65_bar__minus_01_dot_82) + (pickupable Laptop_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_70) + (pickupable CellPhone_bar__minus_03_dot_69_bar__plus_00_dot_40_bar__plus_03_dot_88) + (pickupable Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76) + (isReceptacleObject Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40) + (isReceptacleObject Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46) + (isReceptacleObject Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + (atLocation agent1 loc_bar__minus_7_bar__minus_1_bar_3_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacle Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_06_dot_01 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77) + (inReceptacle RemoteControl_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_07 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle KeyChain_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_46 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Laptop_bar__minus_01_dot_33_bar__plus_00_dot_65_bar__minus_01_dot_82 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle CellPhone_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77) + (inReceptacle Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_69 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Vase_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_69 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Statue_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_30 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Statue_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__plus_06_dot_07 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle Laptop_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_70 ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42) + (inReceptacle Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle CellPhone_bar__minus_03_dot_69_bar__plus_00_dot_40_bar__plus_03_dot_88 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_33_bar__plus_01_dot_10 Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 loc_bar__minus_11_bar_14_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 loc_bar__minus_2_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 loc_bar_0_bar_11_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (receptacleAtLocation Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 loc_bar__minus_14_bar_3_bar_3_bar_45) + (receptacleAtLocation Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 loc_bar__minus_9_bar_20_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation Laptop_bar__minus_02_dot_63_bar__plus_00_dot_32_bar__plus_02_dot_70 loc_bar__minus_11_bar_14_bar_2_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_14_bar__plus_00_dot_33_bar__plus_01_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_03_dot_69_bar__plus_00_dot_40_bar__plus_03_dot_88 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Box_bar__minus_00_dot_11_bar__plus_01_dot_03_bar__plus_01_dot_40 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_01_bar__plus_00_dot_65_bar__minus_02_dot_07 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_75_bar__plus_01_dot_69 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_60 loc_bar__minus_7_bar_20_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_59_bar__plus_00_dot_68_bar__plus_04_dot_42 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 loc_bar__minus_4_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 loc_bar__minus_14_bar_1_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 loc_bar__minus_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 loc_bar__minus_7_bar__minus_12_bar_2_bar_15) + (objectAtLocation Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_7_bar__minus_5_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_1_bar_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 loc_bar__minus_10_bar__minus_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 loc_bar__minus_10_bar__minus_5_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 loc_bar_1_bar_18_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_00_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_69 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 loc_bar__minus_11_bar_4_bar_3_bar_0) + (objectAtLocation WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_02_dot_46 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_01_dot_33_bar__plus_00_dot_65_bar__minus_01_dot_82 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 loc_bar__minus_15_bar_7_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_12_bar_21_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 loc_bar__minus_15_bar_10_bar_3_bar_0) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_1_bar_20_bar_0_bar_0) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 loc_bar__minus_12_bar_21_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_02_dot_66_bar__plus_00_dot_45_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_39_bar__plus_06_dot_01 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_11_bar__minus_4_bar_0_bar_15) + (objectAtLocation Statue_bar__minus_04_dot_22_bar__plus_01_dot_26_bar__plus_00_dot_40 loc_bar__minus_14_bar_4_bar_3_bar_30) + (objectAtLocation Statue_bar__minus_01_dot_09_bar__plus_00_dot_75_bar__plus_01_dot_30 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_67_bar__plus_00_dot_79_bar__plus_06_dot_07 loc_bar_1_bar_18_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WateringCanType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..04c4b652e58a21850860e222bebda47450a7fc86 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193241_476804/traj_data.json @@ -0,0 +1,4026 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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" + ], + "task_desc": "Put a watering can on the black desk. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3RU7GD8VPRAS8TG8ES4X8Y4GGZJSPR", + "high_descs": [ + "Turn right and go across the room, around the left of the glass table, to the end of the sofa with the white box on it.", + "Pick up the white watering can from the floor to the right of the sofa. ", + "Continue around the table, turning right to go between the table and two red chairs, then forward to the black desk.", + "Put the watering can spout side down on the desk in front of the box." + ], + "task_desc": "Place a white watering can on a black desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3UXUOQ9OKHEZ2RQE16OPNCJPUYTA7R", + "high_descs": [ + "Turn right, walk to the coffee table, turn left and turn right, walk to the sofa with red pillow, turn left to the corner with plant", + "Take the pot on the floor", + "Turn around, walk to the black table", + "Put the pot on the table" + ], + "task_desc": "Move the pot in the corner to the black table", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..796c6de1b31360d42d5c24660a2b411805592489 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/initial_state.pddl @@ -0,0 +1,615 @@ + +(define (problem plan_trial_T20190906_193301_828239) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType 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loc_bar__minus_12_bar_21_bar_3_bar_60 - location + loc_bar__minus_14_bar_3_bar_3_bar_45 - location + loc_bar__minus_14_bar_4_bar_3_bar_30 - location + loc_bar__minus_5_bar__minus_12_bar_0_bar_60 - location + loc_bar__minus_12_bar_21_bar_3_bar_0 - location + loc_bar__minus_2_bar_2_bar_1_bar_60 - location + loc_bar_1_bar_18_bar_0_bar_45 - location + loc_bar__minus_12_bar_21_bar_0_bar_0 - location + loc_bar_0_bar_1_bar_0_bar_45 - location + loc_bar__minus_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_7_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_10_bar_21_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 DiningTableType) + (receptacleType TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 TVStandType) + (receptacleType Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 SofaType) + (receptacleType Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 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(pickupable CreditCard_bar__minus_02_dot_49_bar__plus_00_dot_32_bar__plus_02_dot_46) + (pickupable Statue_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_33) + (pickupable KeyChain_bar__minus_04_dot_25_bar__plus_01_dot_27_bar__plus_00_dot_32) + (pickupable Pillow_bar__minus_02_dot_91_bar__plus_00_dot_45_bar__plus_05_dot_92) + (pickupable Statue_bar__minus_01_dot_97_bar__plus_00_dot_55_bar__plus_03_dot_91) + (pickupable Laptop_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_46) + (pickupable Box_bar__minus_01_dot_66_bar__plus_00_dot_68_bar__plus_06_dot_10) + (pickupable CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_20) + (pickupable RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_27_bar__plus_00_dot_77) + (pickupable Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76) + (isReceptacleObject Box_bar__minus_00_dot_85_bar__plus_01_dot_03_bar__plus_01_dot_50) + (isReceptacleObject Box_bar__minus_03_dot_79_bar__plus_00_dot_68_bar__plus_03_dot_35) + (isReceptacleObject Box_bar__minus_01_dot_66_bar__plus_00_dot_68_bar__plus_06_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24) + (openable Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24) + (openable Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + (atLocation agent1 loc_bar__minus_10_bar_21_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16) + + + + + (inReceptacle Pillow_bar__minus_02_dot_91_bar__plus_00_dot_45_bar__plus_05_dot_92 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle Box_bar__minus_01_dot_66_bar__plus_00_dot_68_bar__plus_06_dot_10 Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12) + (inReceptacle KeyChain_bar__minus_04_dot_25_bar__plus_01_dot_27_bar__plus_00_dot_32 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77) + (inReceptacle RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_27_bar__plus_00_dot_77 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77) + (inReceptacle Statue_bar__minus_01_dot_97_bar__plus_00_dot_55_bar__plus_03_dot_91 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Laptop_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_46 CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19) + (inReceptacle Statue_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_33 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Statue_bar__minus_02_dot_47_bar__plus_00_dot_67_bar__minus_02_dot_20 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle RemoteControl_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_01_dot_82 DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04) + (inReceptacle Vase_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77) + (inReceptacle CreditCard_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_69 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Box_bar__minus_00_dot_85_bar__plus_01_dot_03_bar__plus_01_dot_50 Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41) + (inReceptacle Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90) + (inReceptacle CreditCard_bar__minus_02_dot_49_bar__plus_00_dot_32_bar__plus_02_dot_46 ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42) + (inReceptacle Laptop_bar__minus_03_dot_59_bar__plus_00_dot_39_bar__plus_04_dot_42 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle Box_bar__minus_03_dot_79_bar__plus_00_dot_68_bar__plus_03_dot_35 Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15) + (inReceptacle CellPhone_bar__minus_00_dot_09_bar__plus_00_dot_54_bar__plus_01_dot_15 Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77) + (inReceptacle CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_20 Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_63_bar_00_dot_00_bar__plus_02_dot_42 loc_bar__minus_11_bar_14_bar_2_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_01_dot_97_bar__plus_00_dot_00_bar__plus_04_dot_19 loc_bar__minus_8_bar_12_bar_0_bar_60) + (receptacleAtLocation Desk_bar__minus_00_dot_25_bar__plus_00_dot_00_bar__plus_01_dot_41 loc_bar__minus_2_bar_10_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_78_bar__plus_00_dot_01_bar__minus_02_dot_04 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_2_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_41_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar_0_bar_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_17_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_37_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar_00_dot_00_bar__plus_00_dot_58_bar__plus_01_dot_24 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_04 loc_bar_0_bar_11_bar_2_bar_60) + (receptacleAtLocation Safe_bar__plus_00_dot_20_bar__plus_00_dot_00_bar__minus_00_dot_10 loc_bar__minus_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_31_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_25_bar__plus_01_dot_69_bar__plus_00_dot_77 loc_bar__minus_11_bar_4_bar_3_bar_0) + (receptacleAtLocation Shelf_bar__minus_04_dot_26_bar__plus_00_dot_83_bar__plus_00_dot_77 loc_bar__minus_14_bar_3_bar_3_bar_45) + (receptacleAtLocation Sofa_bar__minus_02_dot_16_bar__plus_00_dot_00_bar__plus_06_dot_12 loc_bar__minus_9_bar_20_bar_0_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_81_bar__plus_00_dot_00_bar__plus_04_dot_15 loc_bar__minus_11_bar_16_bar_3_bar_60) + (receptacleAtLocation TVStand_bar__minus_00_dot_20_bar__minus_00_dot_01_bar__plus_05_dot_90 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_02_dot_49_bar__plus_00_dot_32_bar__plus_02_dot_46 loc_bar__minus_11_bar_14_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_01_bar__plus_00_dot_66_bar__minus_01_dot_82 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__minus_01_dot_83_bar__plus_00_dot_45_bar__plus_04_dot_46 loc_bar__minus_8_bar_12_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_04_dot_25_bar__plus_01_dot_27_bar__plus_00_dot_32 loc_bar__minus_14_bar_4_bar_3_bar_30) + (objectAtLocation Box_bar__minus_00_dot_85_bar__plus_01_dot_03_bar__plus_01_dot_50 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_03_dot_79_bar__plus_00_dot_68_bar__plus_03_dot_35 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_36_bar__plus_00_dot_74_bar__plus_01_dot_69 loc_bar__minus_2_bar_10_bar_2_bar_60) + (objectAtLocation Box_bar__minus_01_dot_66_bar__plus_00_dot_68_bar__plus_06_dot_10 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_41_bar__plus_00_dot_00_bar__plus_04_dot_45 loc_bar__minus_4_bar_18_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_36_bar__plus_00_dot_02_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_12_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_03_dot_37_bar__plus_01_dot_74_bar__minus_00_dot_30 loc_bar__minus_14_bar_1_bar_2_bar__minus_15) + (objectAtLocation Chair_bar__minus_00_dot_64_bar__plus_00_dot_00_bar__plus_00_dot_99 loc_bar__minus_3_bar_2_bar_0_bar_60) + (objectAtLocation Painting_bar__minus_01_dot_76_bar__plus_01_dot_42_bar__minus_03_dot_60 loc_bar__minus_7_bar__minus_12_bar_2_bar_15) + (objectAtLocation Chair_bar__minus_01_dot_38_bar__plus_00_dot_02_bar__minus_01_dot_59 loc_bar__minus_7_bar__minus_5_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_37_bar__plus_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_1_bar_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_26_bar__plus_00_dot_02_bar__minus_02_dot_64 loc_bar__minus_10_bar__minus_12_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_02_dot_15_bar__plus_00_dot_02_bar__minus_01_dot_62 loc_bar__minus_10_bar__minus_5_bar_2_bar_60) + (objectAtLocation FloorLamp_bar__plus_00_dot_39_bar__plus_00_dot_00_bar__plus_05_dot_16 loc_bar_1_bar_18_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_21_bar__plus_01_dot_66_bar__plus_00_dot_92 loc_bar__minus_11_bar_4_bar_3_bar_0) + (objectAtLocation CellPhone_bar__minus_00_dot_09_bar__plus_00_dot_54_bar__plus_01_dot_15 loc_bar__minus_3_bar_2_bar_1_bar_60) + (objectAtLocation WateringCan_bar__minus_03_dot_58_bar__plus_00_dot_00_bar__plus_05_dot_51 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_66_bar__plus_00_dot_39_bar__plus_05_dot_74 loc_bar__minus_11_bar_21_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_24_bar__plus_00_dot_79_bar__plus_01_dot_18 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_76 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation Laptop_bar__minus_03_dot_59_bar__plus_00_dot_39_bar__plus_04_dot_42 loc_bar__minus_11_bar_16_bar_3_bar_60) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_00_dot_47_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_01_dot_79 loc_bar__minus_15_bar_7_bar_3_bar_0) + (objectAtLocation Window_bar__minus_03_dot_64_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_12_bar_21_bar_0_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_02_dot_79 loc_bar__minus_15_bar_10_bar_3_bar_0) + (objectAtLocation Window_bar__minus_02_dot_83_bar__plus_01_dot_70_bar__minus_00_dot_16 loc_bar__minus_10_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_13_bar__plus_01_dot_70_bar__plus_06_dot_74 loc_bar__minus_1_bar_20_bar_0_bar_0) + (objectAtLocation Window_bar__minus_01_dot_01_bar__plus_01_dot_70_bar__minus_00_dot_15 loc_bar__minus_5_bar_2_bar_2_bar_0) + (objectAtLocation Window_bar__minus_04_dot_41_bar__plus_01_dot_70_bar__plus_05_dot_98 loc_bar__minus_12_bar_21_bar_3_bar_0) + (objectAtLocation Pillow_bar__minus_02_dot_91_bar__plus_00_dot_45_bar__plus_05_dot_92 loc_bar__minus_9_bar_20_bar_0_bar_60) + (objectAtLocation Television_bar__minus_00_dot_24_bar__plus_01_dot_17_bar__plus_05_dot_82 loc_bar_1_bar_18_bar_0_bar_45) + (objectAtLocation RemoteControl_bar__minus_04_dot_13_bar__plus_01_dot_27_bar__plus_00_dot_77 loc_bar__minus_14_bar_4_bar_3_bar_30) + (objectAtLocation HousePlant_bar__minus_03_dot_94_bar__plus_00_dot_00_bar__plus_05_dot_97 loc_bar__minus_12_bar_21_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_32_bar__plus_00_dot_12_bar__plus_01_dot_20 loc_bar__minus_2_bar_2_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar__minus_14_bar_3_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_74_bar__plus_01_dot_50_bar__minus_00_dot_41 loc_bar__minus_11_bar__minus_4_bar_0_bar_15) + (objectAtLocation Statue_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_02_dot_33 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_02_dot_47_bar__plus_00_dot_67_bar__minus_02_dot_20 loc_bar__minus_7_bar__minus_4_bar_2_bar_60) + (objectAtLocation Statue_bar__minus_01_dot_97_bar__plus_00_dot_55_bar__plus_03_dot_91 loc_bar__minus_8_bar_12_bar_0_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (inReceptacle ?o ?r) + (objectType ?o WateringCanType) + (receptacleType ?r DeskType) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..333f985b22291f06c1166ee74f19c7fa82bc2393 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_simple-WateringCan-None-Desk-204/trial_T20190906_193301_828239/traj_data.json @@ -0,0 +1,2745 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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+ "scene_num": 204 + }, + "task_id": "trial_T20190906_193301_828239", + "task_type": "pick_and_place_simple", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_3HL8HNGX48IYC1VFRJ81F9LMM8Z9FS", + "high_descs": [ + "Turn right, and go to the couch.", + "Pick up the tea pot on the floor, to the right of the couch.", + "Turn around, go toward the TV, then turn right, then go to the desk.", + "Place the tea pot on the desk, to the left of the box." + ], + "task_desc": "Put a tea pot on the desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3JMSRU9HQLB43U8MZ9TRP9PJ103VEE", + "high_descs": [ + "Turn right and walk up to the couch.", + "Pick up the watering plant that is on the ground to the right of the couch.", + "Turn around and walk towards the television, then hang a right and walk over to the black desk.", + "Place the watering can on the black desk to the right of the blue credit card." + ], + "task_desc": "Place a watering can on a black desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1P0XSCJ9XAV74_3ZAZR5XV04Z6FGTI4FCZKR2C4X4ZCT", + "high_descs": [ + "Turn to the right facing the sofa in front of you.", + "Pick up the watering can beside the plant in the corner.", + "Turn around to your left, then make a right until you are standing in front of the black desk.", + "Put the watering can on the desk near the box." + ], + "task_desc": "Putting the watering can on the black desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124129_537511/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124129_537511/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8637ba24310e7df43090394f256e77a9fd7dc3ad --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124129_537511/initial_state.pddl @@ -0,0 +1,918 @@ + +(define (problem plan_trial_T20190908_124129_537511) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + 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Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar_0_bar__minus_10_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType) + (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType) + (receptacleType 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(objectType Apple_bar__minus_01_dot_30_bar__plus_00_dot_11_bar__minus_03_dot_54 AppleType) + (objectType Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 ChairType) + (objectType Spatula_bar__plus_00_dot_57_bar__plus_00_dot_77_bar__plus_00_dot_00 SpatulaType) + (objectType Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 MugType) + (objectType Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 PlateType) + (objectType SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_18 SoapBottleType) + (objectType Knife_bar__plus_00_dot_87_bar__plus_00_dot_78_bar__plus_00_dot_00 KnifeType) + (objectType LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 LightSwitchType) + (objectType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 SinkType) + (objectType ButterKnife_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_10 ButterKnifeType) + (objectType 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CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__minus_00_dot_25 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle ButterKnife_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__plus_00_dot_10 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Mug_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle PepperShaker_bar__plus_00_dot_73_bar__plus_00_dot_01_bar__minus_00_dot_64 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Knife_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_00_dot_98 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle PepperShaker_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Potato_bar__plus_00_dot_84_bar__plus_00_dot_70_bar__plus_00_dot_27 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__plus_00_dot_72_bar__plus_00_dot_75_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle DishSponge_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_51 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle ButterKnife_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Fork_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Pot_bar__minus_01_dot_56_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05) + (inReceptacle SoapBottle_bar__plus_00_dot_84_bar__plus_00_dot_01_bar__minus_00_dot_18 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle SoapBottle_bar__plus_00_dot_68_bar__plus_00_dot_01_bar__minus_00_dot_25 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle SaltShaker_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_21 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle Mug_bar__plus_00_dot_90_bar__plus_01_dot_46_bar__plus_00_dot_29 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67) + (inReceptacle DishSponge_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle DishSponge_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_76 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Cup_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spoon_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Potato_bar__minus_01_dot_54_bar__plus_00_dot_73_bar__minus_03_dot_61 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Spatula_bar__minus_01_dot_62_bar__plus_00_dot_72_bar__minus_03_dot_53 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Egg_bar__minus_01_dot_62_bar__plus_00_dot_73_bar__minus_03_dot_28 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{ + "objectName": "Knife_33d4fba0", + "position": { + "x": -1.88688087, + "y": 0.724869967, + "z": -0.983721733 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.698199749, + "y": 0.941000044, + "z": -1.36019969 + }, + "rotation": { + "x": 0.0, + "y": 270.000122, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": -2.03849554, + "y": 0.6917894, + "z": -1.00353038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2830925145, + "scene_num": 21 + }, + "task_id": "trial_T20190908_124129_537511", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3R19ZA45J8915_374TNBHA8EMIPGFU9J0SRB2TX7NQYW", + "high_descs": [ + "Turn to the left, walk almost all the way to the table, then turn right and face the kitchen counter. ", + "Pick up the knife that is on the counter, closest to the backsplash.", + "Place the knife in the mug that is sitting on the counter. ", + "Pick up the mug with the knife in it from the counter. ", + "Move over to the small black table with shelves that sits to the left of the counter. ", + "Place the mug with the knife in it on the right hand side of the small black table." + ], + "task_desc": "Move a mug with a knife in it to a small table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3AUQQEL7U8KDXTFQNAJT567H2MAV0H", + "high_descs": [ + "Turn left and the right to face the counter to the left of the sink.", + "Pick the knife closest to the wall up from the counter.", + "Put the knife in the mug on the counter.", + "Pick the mug up from the counter.", + "Move to the left and face the black table to the left of the counter.", + "Put the mug down on the black table to the left of the counter." + ], + "task_desc": "Put a mug with a knife in it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3KIBXJ1WD8LKKZDXQR7XTYSIKSWOKT", + "high_descs": [ + "Turn left, turn right to face the counter to the left of the sink. ", + "Pick up the butter knife from the counter to the left of the cup. ", + "Put the knife in the cup on the counter. ", + "Pick up the cup from the counter. ", + "Walk to the black shelf to the left of the counter. ", + "Put the cup down on the shelf to the right of the head of lettuce. " + ], + "task_desc": "To put a knife in a cup and move the cup to the shelf. ", + "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-Mug-SideTable-21/trial_T20190908_124156_384497/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124156_384497/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c59c56d31070e064192e5c14c4d6cf9169fdb928 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124156_384497/initial_state.pddl @@ -0,0 +1,898 @@ + +(define (problem plan_trial_T20190908_124156_384497) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - 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loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_13_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType 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Tomato_bar__plus_00_dot_88_bar__plus_00_dot_93_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Knife_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__minus_00_dot_88 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_42 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05) + (inReceptacle ButterKnife_bar__plus_00_dot_72_bar__plus_00_dot_67_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle 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DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_19 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spatula_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_01_dot_27 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spatula_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__plus_00_dot_93 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_19 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loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_68 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30) + (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0) + (objectAtLocation Egg_bar__minus_01_dot_64_bar__plus_00_dot_74_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_57_bar__plus_00_dot_78_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_80_bar__plus_00_dot_81_bar__minus_00_dot_85 loc_bar_1_bar__minus_2_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_01_dot_19 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_04_bar__plus_01_dot_46_bar__plus_00_dot_04 loc_bar_1_bar_0_bar_1_bar__minus_30) + (objectAtLocation PepperShaker_bar__plus_00_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_56_bar__plus_00_dot_70_bar__minus_03_dot_78 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_25_bar__plus_00_dot_94_bar__plus_00_dot_84 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_80 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_66_bar__plus_00_dot_71_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_87_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_82_bar__plus_00_dot_78_bar__plus_00_dot_00 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_18 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SideTableType) + (exists (?o - object) + (and + (objectType ?o ButterKnifeType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124156_384497/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124156_384497/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ce940276b01b5ee293e9d2a0c4db3f425c649c73 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124156_384497/traj_data.json @@ -0,0 +1,4711 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, 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+ }, + { + "objectName": "Spatula_8142ce7b", + "position": { + "x": -0.2527303, + "y": 0.9156206, + "z": 1.27278352 + }, + "rotation": { + "x": 0.0, + "y": 0.000327849062, + "z": 0.0 + } + }, + { + "objectName": "Potato_027e0a30", + "position": { + "x": 0.6692872, + "y": 1.19178081, + "z": -1.80274987 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Cup_cb0de209", + "position": { + "x": 0.901886463, + "y": 0.6632297, + "z": 0.4481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_886fcaf3", + "position": { + "x": 0.9619548, + "y": 0.661702454, + "z": 0.326432 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_87875872", + "position": { + "x": 0.812662363, + "y": 1.46013677, + "z": 0.5349058 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_0ad5c562", + "position": { + "x": 0.729649961, + "y": 0.8836421, + "z": -0.10800001 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_11e4138d", + "position": { + "x": -1.59924114, + "y": 0.6998392, + "z": -3.36120987 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_42314d78", + "position": { + "x": -0.8739217, + "y": 0.931037, + "z": 0.978991032 + }, + "rotation": { + "x": 0.0298040472, + "y": 24.2316246, + "z": 359.89502 + } + }, + { + "objectName": "Lettuce_0ad3089c", + "position": { + "x": 0.7856681, + "y": 1.46123338, + "z": -2.035625 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Tomato_5a2cfc73", + "position": { + "x": 0.877196848, + "y": 0.9319887, + "z": -0.176930517 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": 0.7690388, + "y": 0.7609973, + "z": -0.188901335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": -1.80324006, + "y": 0.724869967, + "z": -0.875647962 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": 0.6558765, + "y": 0.8786, + "z": -0.176930517 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": -2.03849554, + "y": 0.6917894, + "z": -1.00353038 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2068791046, + "scene_num": 21 + }, + "task_id": "trial_T20190908_124156_384497", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1NWXL4QO30M8U_345LHZDED0J916PN17R7BI35RT0U35", + "high_descs": [ + "Turn around and take one step, then turn right and walk across the room, then turn right to face the white counter. ", + "Pick up the knife that is next to the coffee cup.", + "Turn right and take one step then turn left to face the counter. ", + "Put the knife in the coffee cup that is to the left of the sink.", + "Pick up the coffee cup with the knife in it. ", + "Turn around and take one step, then turn right and walk to the white table, then turn right to face the black table. ", + "Put the coffee cup with the knife on the right side of the black table. " + ], + "task_desc": "Clean up the dishes.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3F0BG9B9MSE8JYAFDKRMRKLYSHJY7U", + "high_descs": [ + "turn around and walk past the fridge a bit, then turn right and walk over to the kitchen counter to the left of the sink", + "grab a butter knife off of the kitchen counter", + "turn to back up and then face the kitchen counter again", + "place the knife inside of the cup on the counter", + "pick the cup up off of the counter there", + "turn to back up a bit and then face the black table to the left of the counter", + "place the cup down on the black table to the left of the counter" + ], + "task_desc": "place a cup with a knife in it down on the kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3TEM0PF1Q8OR3CF4WPJZZK1A2HJ0D4", + "high_descs": [ + "Turn around and walk past the refrigerator on your right, and turn right, then go across the kitchen to the small counter on the left side of the sink, to your right. ", + "Pick up the knife that is near the edge of the counter. ", + "Move over to your right so that you are directly in front of the coffee cup on the counter. ", + "Place the knife in the coffee cup. ", + "Pick up the coffee cup with the knife inside, from the counter top. ", + "Move over to your left so that you are directly in front of the small black stand, to the left of the counter. ", + "Place the coffee cup with the knife inside, on the right, front corner of the small, black stand. " + ], + "task_desc": "Put a coffee cup containing a knife on the kitchen stand. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124303_368756/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124303_368756/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2d48fc9a5003778fc371894cfab558974f674585 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SideTable-21/trial_T20190908_124303_368756/initial_state.pddl @@ -0,0 +1,858 @@ + +(define (problem plan_trial_T20190908_124303_368756) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45 - object + Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 - object + Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_10 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 - object + Cup_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__minus_02_dot_19 - object + DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_79 - object + DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 - object + DishSponge_bar__plus_00_dot_99_bar__plus_01_dot_46_bar__minus_00_dot_02 - object + Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74 - object + Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 - object + Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 - object + Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18 - object + Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_04 - object + LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object + Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object + Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_02 - object + Mug_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11 - object + PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_25 - object + PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_33 - object + PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__minus_00_dot_11 - object + Plate_bar__plus_00_dot_79_bar__plus_00_dot_02_bar__minus_00_dot_18 - object + Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63 - object + Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_27 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 - object + SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_53 - object + SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 - object + Spatula_bar__plus_00_dot_57_bar__plus_00_dot_77_bar__minus_00_dot_12 - object + Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_57 - object + Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_00 - object + Spoon_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68 - object + Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle + CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle + CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle + DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar_1_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_13_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType 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Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67) + (openable Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (openable Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (openable Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (openable Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + + (atLocation agent1 loc_bar__minus_2_bar__minus_13_bar_1_bar_30) + + (cleanable Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_00) + (cleanable ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63) + (cleanable Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63) + (cleanable Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63) + (cleanable Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_02) + (cleanable Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00) + (cleanable Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45) + (cleanable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68) + (cleanable Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91) + (cleanable Mug_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84) + (cleanable Spoon_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84) + (cleanable Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00) + (cleanable Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_04) + (cleanable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (cleanable Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_57) + (cleanable Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18) + (cleanable Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45) + (cleanable Plate_bar__plus_00_dot_79_bar__plus_00_dot_02_bar__minus_00_dot_18) + (cleanable Cup_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__minus_02_dot_19) + (cleanable Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11) + (cleanable Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74) + (cleanable DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41) + (cleanable Spatula_bar__plus_00_dot_57_bar__plus_00_dot_77_bar__minus_00_dot_12) + (cleanable DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_79) + (cleanable DishSponge_bar__plus_00_dot_99_bar__plus_01_dot_46_bar__minus_00_dot_02) + (cleanable Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79) + (cleanable Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45) + (cleanable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (cleanable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + (cleanable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03) + + (heatable Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63) + (heatable Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63) + (heatable Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_02) + (heatable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68) + (heatable Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91) + (heatable Mug_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84) + (heatable Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45) + (heatable Plate_bar__plus_00_dot_79_bar__plus_00_dot_02_bar__minus_00_dot_18) + (heatable Cup_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__minus_02_dot_19) + (heatable Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74) + (heatable Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45) + (heatable Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_10) + (heatable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + (heatable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + (heatable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03) + (coolable Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63) + (coolable Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63) + (coolable Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_02) + (coolable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68) + (coolable Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91) + (coolable Mug_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84) + (coolable Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00) + (coolable Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_04) + (coolable Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79) + (coolable Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45) + (coolable Plate_bar__plus_00_dot_79_bar__plus_00_dot_02_bar__minus_00_dot_18) + (coolable Cup_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__minus_02_dot_19) + (coolable Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11) + (coolable Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74) + (coolable Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79) + (coolable Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45) + (coolable Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_10) + (coolable Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60) + (coolable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + (coolable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + (coolable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03) + + + + + + (sliceable Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63) + (sliceable Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68) + (sliceable Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91) + (sliceable Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_04) + (sliceable Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45) + (sliceable Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74) + (sliceable Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45) + (sliceable Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_10) + (sliceable Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57) + (sliceable Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98) + (sliceable Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03) + + (inReceptacle Spatula_bar__plus_00_dot_57_bar__plus_00_dot_77_bar__minus_00_dot_12 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Fork_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__plus_00_dot_00 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13) + (inReceptacle Potato_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__minus_00_dot_91 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Knife_bar__plus_00_dot_95_bar__plus_00_dot_91_bar__minus_00_dot_18 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Lettuce_bar__plus_00_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_04 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle PepperShaker_bar__plus_00_dot_95_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_01_dot_52 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Bowl_bar__minus_02_dot_04_bar__plus_00_dot_69_bar__minus_01_dot_00 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle PepperShaker_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_33 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Egg_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Apple_bar__plus_00_dot_84_bar__plus_00_dot_72_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_27 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Potato_bar__plus_00_dot_96_bar__plus_00_dot_70_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Cup_bar__plus_00_dot_60_bar__plus_00_dot_66_bar__plus_00_dot_63 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Fork_bar__plus_00_dot_78_bar__plus_00_dot_67_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle SoapBottle_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_45 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle PepperShaker_bar__plus_00_dot_57_bar__plus_00_dot_01_bar__minus_00_dot_25 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16) + (inReceptacle DishSponge_bar__plus_00_dot_99_bar__plus_01_dot_46_bar__minus_00_dot_02 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle Mug_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__minus_00_dot_02 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40) + (inReceptacle DishSponge_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__plus_00_dot_41 Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67) + (inReceptacle Mug_bar__minus_00_dot_25_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Bread_bar__plus_00_dot_15_bar__plus_00_dot_94_bar__plus_01_dot_10 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle Spoon_bar__minus_00_dot_45_bar__plus_00_dot_90_bar__plus_00_dot_84 DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_53 DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37) + (inReceptacle Apple_bar__minus_01_dot_26_bar__plus_00_dot_11_bar__minus_03_dot_57 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Tomato_bar__minus_01_dot_26_bar__plus_00_dot_10_bar__minus_03_dot_68 GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61) + (inReceptacle Cup_bar__plus_00_dot_67_bar__plus_00_dot_66_bar__minus_02_dot_19 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle Pan_bar__plus_00_dot_75_bar__plus_01_dot_37_bar__minus_02_dot_11 Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96) + (inReceptacle ButterKnife_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_63 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + (inReceptacle Spatula_bar__plus_00_dot_67_bar__plus_00_dot_79_bar__minus_00_dot_57 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + (inReceptacle DishSponge_bar__plus_00_dot_76_bar__plus_00_dot_77_bar__minus_00_dot_79 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + (inReceptacle Egg_bar__plus_00_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_74 Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin loc_bar_1_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_6_bar_0_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_6_bar_0_bar_0_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 loc_bar__minus_7_bar_0_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30) + (receptacleAtLocation 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Turn right to face sink.", + "Remove knife from sink, to the right of the spatula and below the sponge.", + "Turn left, proceed to table with toaster on it.", + "Place knife in cup to the right of the spoon. ", + "Pick up cup with knife in it.", + "Turn right to face shelves.", + "Place cup on top shelf, to the right, between the two shakers." + ], + "task_desc": "Move a knife from the sink to a cup on a table, move both to a shelf.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3QEMNNSB20Q5LNFOHO48EZBXAULD7B", + "high_descs": [ + "Go to the sink", + "Pick up a knife", + "Go to the white table", + "Put the knife in a mug", + "Pick up the mug", + "Go to the small black table", + "Put the mug down on the black table" + ], + "task_desc": "Put a mug with a knife in it on a small table", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6c148907bc0d0fb76896df65befa6f563101117e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/initial_state.pddl @@ -0,0 +1,872 @@ + +(define (problem plan_trial_T20190909_061422_514461) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_03_dot_51_bar__plus_01_dot_63_bar__plus_03_dot_20 - object + Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Bowl_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_03_dot_13 - object + Bowl_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_92 - object + Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 - object + Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 - object + ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + Cup_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + DishSponge_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_38 - object + DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 - object + Egg_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Egg_bar__minus_03_dot_57_bar__plus_00_dot_94_bar__plus_02_dot_92 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_30 - object + Fork_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_02_dot_82 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 - object + Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 - object + Mug_bar__minus_01_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_49 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 - object + PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + Plate_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_50 - object + Potato_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 - object + Potato_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 - object + Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_03_dot_06 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_66 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_98 - object + Spatula_bar__minus_00_dot_29_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spoon_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_03_dot_64_bar__plus_01_dot_33_bar__plus_02_dot_85 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_6_bar_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 MugType) + (objectType Potato_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 PotatoType) + (objectType Tomato_bar__minus_03_dot_64_bar__plus_01_dot_33_bar__plus_02_dot_85 TomatoType) + (objectType DishSponge_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_38 DishSpongeType) + (objectType Potato_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 PotatoType) + (objectType Egg_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 EggType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Apple_bar__minus_03_dot_51_bar__plus_01_dot_63_bar__plus_03_dot_20 AppleType) + (objectType PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_57 PepperShakerType) + (objectType Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 BowlType) + (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType) + (objectType Bowl_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_92 BowlType) + (objectType Plate_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_50 PlateType) + (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 PotType) + (objectType ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_01_dot_92 ButterKnifeType) + (objectType Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_19 KnifeType) + (objectType Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 PanType) + (objectType Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 MugType) + (objectType PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 PepperShakerType) + (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Cup_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_66 CupType) + (objectType Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_30 ForkType) + (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_03_dot_06 PotType) + (objectType Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 LadleType) + (objectType Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 BreadType) + (objectType Mug_bar__minus_01_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_49 MugType) + (objectType SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_98 SoapBottleType) + (objectType Spoon_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 SpoonType) + (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType) + (objectType Egg_bar__minus_03_dot_57_bar__plus_00_dot_94_bar__plus_02_dot_92 EggType) + (objectType Bowl_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_03_dot_13 BowlType) + (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType) + (objectType SaltShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_66 SaltShakerType) + (objectType SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_38 SaltShakerType) + (objectType Mug_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 MugType) + (objectType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 SinkType) + (objectType Spatula_bar__minus_00_dot_29_bar__plus_01_dot_06_bar__plus_01_dot_92 SpatulaType) + (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_02_dot_82 LettuceType) + (objectType DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 DishSpongeType) + (objectType Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 PlateType) + (objectType 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CounterTopType LettuceType) + (canContain CounterTopType PotatoType) + (canContain CounterTopType ButterKnifeType) + (canContain CounterTopType CupType) + (canContain CounterTopType PlateType) + (canContain CounterTopType PepperShakerType) + (canContain CounterTopType TomatoType) + (canContain CounterTopType KnifeType) + (canContain CounterTopType AppleType) + (canContain CounterTopType PanType) + (canContain CounterTopType SpatulaType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain DrawerType SaltShakerType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType LadleType) + (canContain DrawerType ForkType) + (canContain DrawerType SpoonType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ButterKnifeType) + (canContain DrawerType PepperShakerType) + (canContain DrawerType KnifeType) + (canContain DrawerType SpatulaType) + (canContain FridgeType BreadType) + (canContain FridgeType BowlType) + (canContain 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Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Mug_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Potato_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_29_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spoon_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Potato_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Egg_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_38 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Mug_bar__minus_01_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_49 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle DishSponge_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle SaltShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Cup_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_30 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Plate_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_50 Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19) + (inReceptacle Bowl_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Tomato_bar__minus_03_dot_64_bar__plus_01_dot_33_bar__plus_02_dot_85 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Egg_bar__minus_03_dot_57_bar__plus_00_dot_94_bar__plus_02_dot_92 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Bowl_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Apple_bar__minus_03_dot_51_bar__plus_01_dot_63_bar__plus_03_dot_20 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 loc_bar__minus_5_bar_11_bar_1_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_38_bar__plus_01_dot_09_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (objectAtLocation DishSponge_bar__minus_02_dot_64_bar__plus_01_dot_12_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_42_bar__plus_01_dot_04_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_38 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_66_bar__plus_01_dot_08_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_29_bar__plus_01_dot_06_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_56_bar__plus_00_dot_05_bar__plus_00_dot_50 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_03_dot_27 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_03_dot_37_bar__plus_01_dot_29_bar__plus_03_dot_06 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_72_bar__plus_01_dot_13_bar__plus_00_dot_30 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_24_bar__plus_00_dot_04_bar__plus_00_dot_49 loc_bar__minus_7_bar_7_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar__minus_6_bar_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_13_bar_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_14_bar_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 loc_bar__minus_12_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_03_dot_80_bar__plus_00_dot_11_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + (objectAtLocation Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Potato_bar__minus_00_dot_54_bar__plus_01_dot_08_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_03_dot_04 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_02_dot_82 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_6_bar_4_bar_2_bar__minus_15) + (objectAtLocation Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 loc_bar__minus_13_bar_5_bar_2_bar__minus_15) + (objectAtLocation Spatula_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_03_dot_57_bar__plus_00_dot_94_bar__plus_02_dot_92 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_88_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_51_bar__plus_01_dot_12_bar__plus_00_dot_66 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_02_dot_26_bar__plus_01_dot_16_bar__plus_00_dot_19 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_03_dot_31_bar__plus_01_dot_56_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_00_dot_94_bar__plus_01_dot_12_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_29_bar__plus_01_dot_05_bar__plus_01_dot_92 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_03_dot_51_bar__plus_01_dot_63_bar__plus_03_dot_20 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_64_bar__plus_01_dot_33_bar__plus_02_dot_85 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_64_bar__plus_00_dot_11_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 loc_bar__minus_5_bar_9_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o ButterKnifeType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..60fc670299877ad8e91d8811db71990045cb9c9c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061422_514461/traj_data.json @@ -0,0 +1,2653 @@ +{ + "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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"task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AFPMG8TLP1TND_382M9COHEK6CB45KQR83U972IOZUEH", + "high_descs": [ + "turn right walk straight towards the sink then turn left then walk straight to the wall then turn left towards the table", + "pick up the butter knife off of the table", + "look up", + "put the butter knife down inside the mug on the table", + "pick up the butter knife and mug off of the table", + "turn left walk straight then turn left towards the sink", + "put the mug and butter knife down together inside of the sink" + ], + "task_desc": "clean up a knife and a mug then put them into the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1T643M1P572AA_3DY4FPOOA4F1XNZPHN28P284BK3RVL", + "high_descs": [ + "turn right and move forward to the sink and then turn left and move forward and then turn left", + "pick up the knife from the table", + "look up from the table", + "place knife inside of the coffee mug", + "pick up the coffee mug from the table", + "look down and turn left and then move forward and then turn left to the sink and face it", + "put the mug inside of the sink" + ], + "task_desc": "Put the knife from the table inside of the coffee mug and place it inside of the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3PH3VY7DJOONE3LLHE1HX7THRB5ZWF", + "high_descs": [ + "Turn right, hang a left at the sink and walk to the side of the large wooden table on the left.", + "Pick up the knife next to the spatula on the table.", + "Look up to see across the wooden table.", + "Put the knife in the white mug to the right of the potato in the middle of the table.", + "Pick up the mug with the knife from the table.", + "Turn left and walk to the sink on the left.", + "Put the mug with the knife inside the sink." + ], + "task_desc": "Place a mug with a knife in a sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061548_002935/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061548_002935/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..40ebd5d8264147b5e6bdec82d7bc5ffc313b0dbd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190909_061548_002935/initial_state.pddl @@ -0,0 +1,958 @@ + +(define (problem plan_trial_T20190909_061548_002935) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_30_bar__plus_00_dot_41 - object + Apple_bar__minus_00_dot_91_bar__plus_01_dot_12_bar__plus_03_dot_04 - object + Apple_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_00_dot_38 - object + Bowl_bar__minus_01_dot_60_bar__plus_00_dot_05_bar__plus_00_dot_44 - object + Bread_bar__minus_00_dot_18_bar__plus_01_dot_12_bar__plus_01_dot_89 - object + Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92 - object + ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 - object + ButterKnife_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 - object + Cup_bar__minus_00_dot_42_bar__plus_01_dot_23_bar__plus_00_dot_48 - object + Cup_bar__minus_03_dot_27_bar__plus_00_dot_73_bar__plus_03_dot_06 - object + Cup_bar__minus_03_dot_64_bar__plus_01_dot_56_bar__plus_02_dot_92 - object + DishSponge_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 - object + DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 - object + DishSponge_bar__minus_03_dot_85_bar__plus_01_dot_12_bar__plus_00_dot_28 - object + Egg_bar__minus_00_dot_94_bar__plus_01_dot_16_bar__plus_00_dot_12 - object + Egg_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_07 - object + Egg_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_04 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_02_dot_51_bar__plus_01_dot_13_bar__plus_00_dot_66 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_14 - object + Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_37 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_03_dot_27 - object + Ladle_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Ladle_bar__minus_02_dot_51_bar__plus_01_dot_16_bar__plus_00_dot_57 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_02_dot_82 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_04 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_29_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + Mug_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 - object + Mug_bar__minus_03_dot_51_bar__plus_01_dot_56_bar__plus_02_dot_78 - object + Pan_bar__minus_00_dot_27_bar__plus_01_dot_04_bar__plus_02_dot_56 - object + PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_58 - object + Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 - object + Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_27 - object + Plate_bar__minus_03_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_92 - object + Potato_bar__minus_03_dot_27_bar__plus_00_dot_76_bar__plus_02_dot_92 - object + Potato_bar__minus_03_dot_31_bar__plus_01_dot_59_bar__plus_02_dot_78 - object + Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 - object + SaltShaker_bar__minus_01_dot_08_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_02_dot_45_bar__plus_00_dot_09_bar__plus_00_dot_58 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_01_dot_20_bar__plus_00_dot_05_bar__plus_00_dot_38 - object + SoapBottle_bar__minus_01_dot_27_bar__plus_00_dot_05_bar__plus_00_dot_49 - object + SoapBottle_bar__minus_01_dot_95_bar__plus_00_dot_10_bar__plus_00_dot_51 - object + Spatula_bar__minus_01_dot_89_bar__plus_01_dot_14_bar__plus_00_dot_47 - object + Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_10 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12 - object + Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_19 - object + Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_02_dot_04 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_30 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_9_bar_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType Egg_bar__minus_03_dot_54_bar__plus_00_dot_14_bar__plus_02_dot_07 EggType) + (objectType SaltShaker_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_82 SaltShakerType) + (objectType SoapBottle_bar__minus_01_dot_95_bar__plus_00_dot_10_bar__plus_00_dot_51 SoapBottleType) + (objectType DishSponge_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_59 DishSpongeType) + (objectType Plate_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_02_dot_14 PlateType) + (objectType Cup_bar__minus_00_dot_42_bar__plus_01_dot_23_bar__plus_00_dot_48 CupType) + (objectType Knife_bar__minus_00_dot_79_bar__plus_01_dot_08_bar__plus_02_dot_37 KnifeType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Bread_bar__minus_03_dot_44_bar__plus_01_dot_37_bar__plus_02_dot_92 BreadType) + (objectType PepperShaker_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__plus_00_dot_58 PepperShakerType) + (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType) + (objectType DishSponge_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_92 DishSpongeType) + (objectType DishSponge_bar__minus_03_dot_85_bar__plus_01_dot_12_bar__plus_00_dot_28 DishSpongeType) + (objectType Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 PotType) + (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_12_bar__plus_03_dot_04 LettuceType) + (objectType Spoon_bar__minus_02_dot_01_bar__plus_01_dot_13_bar__plus_00_dot_10 SpoonType) + (objectType 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CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__minus_01_dot_89_bar__plus_01_dot_14_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__minus_02_dot_26_bar__plus_01_dot_12_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Mug_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_57 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Apple_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Fork_bar__minus_02_dot_51_bar__plus_01_dot_13_bar__plus_00_dot_66 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Tomato_bar__minus_02_dot_39_bar__plus_01_dot_17_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Tomato_bar__minus_00_dot_72_bar__plus_01_dot_17_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Egg_bar__minus_00_dot_94_bar__plus_01_dot_16_bar__plus_00_dot_12 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_77_bar__plus_01_dot_16_bar__plus_00_dot_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_48 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle Pot_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_23 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"Walk a couple feet right then turn back left to face the counter", + "Put the knife in the white mug on the counter", + "Pick up the white mug from the counter", + "Turn left and walk over to the kitchen sink", + "Put the mug down in the sink" + ], + "task_desc": "Put the mug with knife in the kitchen sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3CN4LGXD50FB0BSWBMTFO81O1OE4YJ", + "high_descs": [ + "Walk ahead to the counter.", + "Pick up the knife on the counter.", + "Take a step right.", + "Place the knife in the white mug.", + "Pick up the white mug.", + "Take a couple steps left.", + " Place the mug in the front left corner of the sink." + ], + "task_desc": "Place a mug with a knife in it in a sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190919_012051_482658/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190919_012051_482658/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..caa25c5d31952626631dfa635b4f54e484589b02 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190919_012051_482658/initial_state.pddl @@ -0,0 +1,879 @@ + +(define (problem plan_trial_T20190919_012051_482658) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_66_bar__plus_01_dot_11_bar__plus_02_dot_82 - object + Bowl_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_02_dot_99 - object + Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 - object + ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_39 - object + ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 - object + ButterKnife_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_38 - object + Cup_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + DishSponge_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__plus_00_dot_61 - object + Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_48 - object + Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_22 - object + Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_13 - object + Faucet_bar__minus_01_dot_39_bar__plus_01_dot_37_bar__plus_00_dot_17 - object + Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 - object + Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Fork_bar__minus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_58 - object + HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 - object + Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_59 - object + Knife_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_43 - object + Knife_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_19 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 - object + Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_66 - object + Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_27 - object + Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 - object + Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 - object + LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 - object + Mug_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__plus_02_dot_14 - object + Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13 - object + Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + PepperShaker_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_00_dot_58 - object + Plate_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_61 - object + Potato_bar__minus_03_dot_37_bar__plus_01_dot_32_bar__plus_03_dot_06 - object + Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_07 - object + Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 - object + SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_48_bar__plus_00_dot_58 - object + SaltShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 - object + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + SoapBottle_bar__minus_00_dot_88_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + Spatula_bar__minus_00_dot_17_bar__plus_01_dot_06_bar__plus_01_dot_92 - object + Spoon_bar__minus_02_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_55 - object + Spoon_bar__minus_02_dot_39_bar__plus_01_dot_13_bar__plus_00_dot_47 - object + StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_32_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 - object + Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_59 - object + Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 - object + Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_01_dot_98 - object + Window_bar__minus_01_dot_39_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 - object + Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 - receptacle + CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 - receptacle + CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 - receptacle + CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 - receptacle + DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 - receptacle + Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 - receptacle + Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 - receptacle + GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 - receptacle + Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 - receptacle + Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 - receptacle + StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 - receptacle + loc_bar__minus_7_bar_7_bar_2_bar_45 - location + loc_bar__minus_14_bar_5_bar_2_bar_45 - location + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_6_bar_4_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_3_bar_60 - location + loc_bar__minus_7_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_5_bar_12_bar_1_bar_30 - location + loc_bar__minus_13_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_12_bar_0_bar_30 - location + loc_bar__minus_14_bar_5_bar_2_bar_30 - location + loc_bar__minus_12_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_9_bar_1_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_14_bar_6_bar_0_bar_60 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_13_bar_5_bar_2_bar__minus_15 - location + loc_bar__minus_12_bar_5_bar_2_bar_30 - location + loc_bar__minus_6_bar_4_bar_1_bar_30 - location + loc_bar__minus_13_bar_6_bar_2_bar_30 - location + loc_bar__minus_4_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 FridgeType) + (receptacleType DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 DiningTableType) + (receptacleType Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 GarbageCanType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_01_dot_04_bar__plus_02_dot_87 ToasterType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 MicrowaveType) + (receptacleType CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 DrawerType) + (receptacleType StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 DrawerType) + (objectType Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_13 EggType) + (objectType Cup_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 CupType) + (objectType Plate_bar__minus_01_dot_52_bar__plus_00_dot_05_bar__plus_00_dot_61 PlateType) + (objectType Knife_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_19 KnifeType) + (objectType StoveKnob_bar__minus_03_dot_16_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Spoon_bar__minus_02_dot_39_bar__plus_01_dot_13_bar__plus_00_dot_47 SpoonType) + (objectType Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 LettuceType) + (objectType HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 HousePlantType) + (objectType DishSponge_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__plus_00_dot_61 DishSpongeType) + (objectType Spoon_bar__minus_02_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_55 SpoonType) + (objectType Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 PotType) + (objectType Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 ForkType) + (objectType Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_59 TomatoType) + (objectType Mug_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__plus_02_dot_14 MugType) + (objectType Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 LettuceType) + (objectType StoveKnob_bar__minus_03_dot_49_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_27 LadleType) + (objectType Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_66 LadleType) + (objectType Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_48 EggType) + (objectType StoveKnob_bar__minus_02_dot_99_bar__plus_01_dot_05_bar__plus_00_dot_71 StoveKnobType) + (objectType Potato_bar__minus_03_dot_37_bar__plus_01_dot_32_bar__plus_03_dot_06 PotatoType) + (objectType ButterKnife_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_38 ButterKnifeType) + (objectType Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 LadleType) + (objectType Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_01_dot_98 TomatoType) + (objectType Apple_bar__minus_00_dot_66_bar__plus_01_dot_11_bar__plus_02_dot_82 AppleType) + (objectType Spatula_bar__minus_00_dot_17_bar__plus_01_dot_06_bar__plus_01_dot_92 SpatulaType) + (objectType Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 ForkType) + (objectType Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_22 EggType) + (objectType LightSwitch_bar__minus_02_dot_58_bar__plus_01_dot_30_bar__plus_03_dot_50 LightSwitchType) + (objectType Bowl_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_02_dot_99 BowlType) + (objectType Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13 MugType) + (objectType Window_bar__minus_03_dot_27_bar__plus_01_dot_93_bar__plus_00_dot_02 WindowType) + (objectType Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 TomatoType) + (objectType SaltShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 SaltShakerType) + (objectType ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_39 ButterKnifeType) + (objectType Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_59 KnifeType) + (objectType ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 ButterKnifeType) + (objectType 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Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_01_dot_98) + (sliceable Apple_bar__minus_00_dot_66_bar__plus_01_dot_11_bar__plus_02_dot_82) + (sliceable Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_22) + (sliceable Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82) + (sliceable Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04) + (sliceable Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_07) + + (inReceptacle Pot_bar__minus_03_dot_48_bar__plus_01_dot_13_bar__plus_00_dot_48 StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle Bread_bar__minus_00_dot_91_bar__plus_01_dot_13_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_01_dot_11_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Spatula_bar__minus_00_dot_17_bar__plus_01_dot_06_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_01_dot_05_bar__plus_02_dot_37 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Mug_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__plus_02_dot_14 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Lettuce_bar__minus_00_dot_66_bar__plus_01_dot_13_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_03_dot_27 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Knife_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_02_dot_59 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Tomato_bar__minus_00_dot_79_bar__plus_01_dot_09_bar__plus_02_dot_82 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle ButterKnife_bar__minus_00_dot_79_bar__plus_01_dot_05_bar__plus_03_dot_04 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle Ladle_bar__minus_00_dot_54_bar__plus_01_dot_09_bar__plus_01_dot_92 DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49) + (inReceptacle SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_48_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle Fork_bar__minus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Spoon_bar__minus_02_dot_36_bar__plus_00_dot_10_bar__plus_00_dot_55 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle DishSponge_bar__minus_02_dot_59_bar__plus_00_dot_09_bar__plus_00_dot_61 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59) + (inReceptacle Cup_bar__minus_01_dot_12_bar__plus_00_dot_05_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73) + (inReceptacle Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48) + (inReceptacle SaltShaker_bar__minus_02_dot_51_bar__plus_00_dot_90_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60) + (inReceptacle Pan_bar__minus_03_dot_00_bar__plus_01_dot_13_bar__plus_00_dot_48 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__minus_02_dot_39_bar__plus_01_dot_12_bar__plus_00_dot_38 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Knife_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_19 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle Spoon_bar__minus_02_dot_39_bar__plus_01_dot_13_bar__plus_00_dot_47 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle HousePlant_bar__minus_02_dot_16_bar__plus_01_dot_11_bar__plus_00_dot_17 CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38) + (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_01_dot_12_bar__plus_00_dot_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_66 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle SoapBottle_bar__minus_00_dot_88_bar__plus_01_dot_13_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_40_bar__plus_00_dot_48_bar__plus_00_dot_58 Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59) + (inReceptacle Plate_bar__minus_01_dot_52_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 Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Bowl_bar__minus_03_dot_57_bar__plus_01_dot_28_bar__plus_02_dot_99 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Mug_bar__minus_03_dot_44_bar__plus_01_dot_56_bar__plus_03_dot_13 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_37_bar__plus_01_dot_32_bar__plus_03_dot_06 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72) + (inReceptacle Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_07 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_01_dot_98 GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01) + (inReceptacle Knife_bar__minus_01_dot_47_bar__plus_00_dot_96_bar__plus_00_dot_43 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_64_bar__plus_00_dot_96_bar__plus_00_dot_22 Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_01_dot_26_bar__plus_00_dot_48 Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_00_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_73 loc_bar__minus_7_bar_7_bar_2_bar_45) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_15_bar__plus_01_dot_04_bar__plus_03_dot_19 loc_bar__minus_5_bar_12_bar_1_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_52_bar__plus_01_dot_16_bar__plus_00_dot_49 loc_bar__minus_4_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_28_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_7_bar_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_03_dot_86_bar__plus_01_dot_16_bar__plus_00_dot_38 loc_bar__minus_13_bar_6_bar_2_bar_30) + (receptacleAtLocation DiningTable_bar__minus_00_dot_62_bar__plus_00_dot_02_bar__plus_02_dot_49 loc_bar__minus_5_bar_9_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_4_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_22_bar__plus_00_dot_59 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_50_bar__plus_00_dot_61_bar__plus_00_dot_59 loc_bar__minus_7_bar_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_51_bar__plus_00_dot_94_bar__plus_00_dot_60 loc_bar__minus_8_bar_4_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_03_dot_52_bar__plus_00_dot_00_bar__plus_02_dot_72 loc_bar__minus_10_bar_11_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_01 loc_bar__minus_14_bar_6_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_37_bar__plus_01_dot_11_bar__plus_00_dot_43 loc_bar__minus_6_bar_4_bar_1_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_39_bar__plus_00_dot_98_bar__plus_00_dot_44_bar_SinkBasin loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_00_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_12_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_23 loc_bar__minus_14_bar_5_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__minus_03_dot_48_bar__plus_01_dot_10_bar__plus_00_dot_48 loc_bar__minus_14_bar_5_bar_2_bar_30) + 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loc_bar__minus_6_bar_4_bar_1_bar_30) + (objectAtLocation Lettuce_bar__minus_03_dot_34_bar__plus_00_dot_97_bar__plus_03_dot_08 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_03_dot_59_bar__plus_00_dot_14_bar__plus_02_dot_07 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_72_bar__plus_01_dot_16_bar__plus_00_dot_66 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_04_bar__plus_00_dot_10_bar__plus_00_dot_58 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_03_dot_70_bar__plus_00_dot_15_bar__plus_01_dot_98 loc_bar__minus_14_bar_6_bar_0_bar_60) + (objectAtLocation Knife_bar__minus_02_dot_01_bar__plus_01_dot_16_bar__plus_00_dot_19 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_03_dot_28_bar__plus_00_dot_76_bar__plus_03_dot_13 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_01_dot_47_bar__plus_00_dot_93_bar__plus_00_dot_57 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loc_bar__minus_10_bar_12_bar_0_bar_30) + (objectAtLocation Spoon_bar__minus_02_dot_39_bar__plus_01_dot_13_bar__plus_00_dot_47 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_17_bar__plus_01_dot_04_bar__plus_02_dot_14 loc_bar__minus_5_bar_9_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r SinkBasinType) + (exists (?o - object) + (and + (objectType ?o ButterKnifeType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190919_012051_482658/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Mug-SinkBasin-4/trial_T20190919_012051_482658/traj_data.json new file mode 100644 index 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-0.7158578, + "y": 1.16406763, + "z": 0.659750342 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_4679e4a5", + "position": { + "x": -3.59356833, + "y": 0.142974779, + "z": 2.068726 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_ca5fe19d", + "position": { + "x": -1.522666, + "y": 0.0478528142, + "z": 0.6084629 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_d5b8c410", + "position": { + "x": -0.908643544, + "y": 1.13498759, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_7c6826ef", + "position": { + "x": -3.33989358, + "y": 0.969437838, + "z": 3.081294 + }, + "rotation": { + "x": 0.150243849, + "y": 228.2653, + "z": 312.447327 + } + }, + { + "objectName": "Spatula_0271e4d1", + "position": { + "x": -0.168970883, + "y": 1.06214738, + "z": 1.9207176 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_447fa38c", + "position": { + "x": -3.00049949, + "y": 1.1332, + "z": 0.480000019 + }, + "rotation": { + "x": 0.0, + "y": 270.000732, + "z": 0.0 + } + }, + { + "objectName": "Egg_7b2f7cfb", + "position": { + "x": -0.415176868, + "y": 1.25875783, + "z": 0.475896239 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7b1a480e", + "position": { + "x": -1.11659849, + "y": 0.04744792, + "z": 0.6082015 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_e61894bc", + "position": { + "x": -2.04273033, + "y": 0.483482778, + "z": 0.579597354 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_e6e9017d", + "position": { + "x": -0.415528417, + "y": 1.08067524, + "z": 2.59353828 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9496ee5e", + "position": { + "x": -3.5728128, + "y": 1.28435814, + "z": 2.991 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_4cc43937", + "position": { + "x": -2.403603, + "y": 0.483482778, + "z": 0.579597354 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8393cb4d", + "position": { + "x": -0.785364747, + "y": 1.04828012, + "z": 3.04208541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_f6bdaee7", + "position": { + "x": -0.662086, + "y": 1.11452734, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_1473e57e", + "position": { + "x": -0.785364747, + "y": 1.087733, + "z": 2.817812 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_130c30e2", + "position": { + "x": -2.5921967, + "y": 0.09445161, + "z": 0.613230169 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9dba57b8", + "position": { + "x": -2.35645461, + "y": 0.09601671, + "z": 0.5459646 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_ff353859", + "position": { + "x": -3.44, + "y": 1.5554601, + "z": 3.13280249 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2173108340, + "scene_num": 4 + }, + "task_id": "trial_T20190919_012051_482658", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6SR4BU227GUH_3IOEN3P9SAASPSL7ILFL7JASQUG61D", + "high_descs": [ + "turn left to face the marble counter top", + "pick up the knife from the counter top", + "turn left, and go straight to the wall, then turn left to face the wooden table", + "place the knife inside the mug on the wooden table", + "pick up the white mug on the wooden table", + "turn left, then face left to see the sink", + "place the white mug on the left side in the sink" + ], + "task_desc": "gather together the knife and white mug so they can go in the kitchen sink", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3WS1NTTKE13O1WT0NVEPNK4VE1EF0N", + "high_descs": [ + "Go forward to the counter between the sink and stove on the left. ", + "Pick up the butter knife that is on the counter.", + "Turn to the left, go to the wall, hang a left and go to the table. ", + "Put the knife inside the coffee mug that is on the table.", + "Pick up the coffee mug from the table.", + "Turn to the left, go forward to the sink that is on the left. ", + "Put the mug into the sink." + ], + "task_desc": "Put a mug containing a knife in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3J4Q2Z4UT1UE0BKUUII46EHDM81QWT", + "high_descs": [ + "walk to face counter to left of stove", + "pick up butter knife from counter", + "walk to face wooden table", + "put knife in mug on table", + "pick up mug from table", + "walk to face sink", + "put mug in sink" + ], + "task_desc": "put mug and knife in sink", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081542_564499/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081542_564499/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5d567bf3d5b7d29c89a85908df9aaa6a5a4e1b8c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081542_564499/initial_state.pddl @@ -0,0 +1,1280 @@ + +(define (problem plan_trial_T20190908_081542_564499) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_48_bar__plus_01_dot_40_bar__plus_02_dot_23 - object + Bowl_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_43 - object + Bread_bar__plus_01_dot_09_bar__plus_00_dot_99_bar__minus_01_dot_33 - object + ButterKnife_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 - object + ButterKnife_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_01_dot_71 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_00_dot_96 - object + Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 - object + Cup_bar__minus_01_dot_86_bar__plus_00_dot_12_bar__minus_01_dot_49 - object + DishSponge_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 - object + DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_77_bar__minus_01_dot_07 - object + DishSponge_bar__minus_00_dot_01_bar__plus_00_dot_11_bar__minus_01_dot_68 - object + Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__plus_00_dot_92_bar__plus_00_dot_77_bar__minus_01_dot_18 - object + Glassbottle_bar__plus_01_dot_15_bar__plus_00_dot_12_bar__minus_00_dot_66 - object + Glassbottle_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 - object + Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__minus_01_dot_59 - 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 + 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__plus_00_dot_76_bar__plus_00_dot_94_bar__minus_01_dot_45 - object + Knife_bar__plus_01_dot_04_bar__plus_00_dot_80_bar__plus_00_dot_49 - object + Knife_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_01_dot_53 - object + Ladle_bar__plus_00_dot_85_bar__plus_00_dot_96_bar__minus_01_dot_79 - object + Ladle_bar__plus_01_dot_34_bar__plus_01_dot_70_bar__minus_00_dot_50 - object + Ladle_bar__minus_01_dot_95_bar__plus_01_dot_70_bar__minus_01_dot_87 - object + Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57 - object + Lettuce_bar__minus_00_dot_55_bar__plus_00_dot_98_bar__minus_01_dot_87 - object + LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object + Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 - object + Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Pen_bar__plus_00_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + PepperShaker_bar__plus_00_dot_98_bar__plus_00_dot_11_bar__plus_00_dot_61 - object + PepperShaker_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__plus_00_dot_37 - object + PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_58 - object + Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_63 - object + Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19 - object + Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25 - object + SaltShaker_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_62 - object + SaltShaker_bar__minus_02_dot_17_bar__plus_01_dot_65_bar__minus_01_dot_81 - object + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object + SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_50 - object + Spatula_bar__plus_01_dot_34_bar__plus_00_dot_93_bar__plus_00_dot_03 - object + Spatula_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_87 - object + Spoon_bar__minus_01_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_50 - object + SprayBottle_bar__plus_01_dot_26_bar__plus_00_dot_21_bar__plus_01_dot_11 - object + SprayBottle_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_11 - 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_22_bar__plus_00_dot_96_bar__minus_01_dot_71 - object + Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05 - object + Tomato_bar__plus_01_dot_45_bar__plus_01_dot_76_bar__plus_01_dot_90 - 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 + 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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_2_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88 CoffeeMachineType) + (receptacleType CounterTop_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTopType) + (receptacleType StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02 MicrowaveType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_53 StoveBurnerType) + (receptacleType Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65 CounterTopType) + (receptacleType Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10 FridgeType) + (receptacleType Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_53 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66 CounterTopType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39 DrawerType) + (receptacleType Toaster_bar__minus_02_dot_07_bar__plus_00_dot_90_bar__minus_01_dot_85 ToasterType) + (receptacleType Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_71 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69 CabinetType) + (receptacleType StoveBurner_bar__minus_01_dot_43_bar__plus_00_dot_94_bar__minus_01_dot_81 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08 GarbageCanType) + (receptacleType Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70 DrawerType) + (receptacleType Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69 CabinetType) + (objectType HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 HousePlantType) + (objectType StoveKnob_bar__minus_01_dot_52_bar__plus_01_dot_10_bar__minus_01_dot_98 StoveKnobType) + (objectType Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 SinkType) + (objectType Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_23 AppleType) + (objectType Knife_bar__plus_01_dot_04_bar__plus_00_dot_80_bar__plus_00_dot_49 KnifeType) + (objectType Cup_bar__minus_01_dot_86_bar__plus_00_dot_12_bar__minus_01_dot_49 CupType) + (objectType DishSponge_bar__plus_00_dot_57_bar__plus_00_dot_91_bar__minus_01_dot_87 DishSpongeType) + (objectType Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05 TomatoType) + (objectType Pen_bar__plus_00_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_45 PenType) + (objectType 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+ (canContain CounterTopType PepperShakerType) + (canContain CounterTopType TomatoType) + (canContain CounterTopType KnifeType) + (canContain CounterTopType AppleType) + (canContain CounterTopType PanType) + (canContain CounterTopType SpatulaType) + (canContain StoveBurnerType KettleType) + (canContain StoveBurnerType PotType) + (canContain StoveBurnerType PanType) + (canContain MicrowaveType MugType) + (canContain MicrowaveType PotatoType) + (canContain MicrowaveType EggType) + (canContain MicrowaveType AppleType) + (canContain MicrowaveType TomatoType) + (canContain MicrowaveType BreadType) + (canContain MicrowaveType CupType) + (canContain MicrowaveType GlassbottleType) + (canContain MicrowaveType PlateType) + (canContain MicrowaveType BowlType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType BowlType) + (canContain CabinetType KettleType) + (canContain CabinetType PotType) + 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(cleanable Tomato_bar__plus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_71) + (cleanable Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02) + (cleanable Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (cleanable Fork_bar__plus_00_dot_92_bar__plus_00_dot_77_bar__minus_01_dot_18) + (cleanable Ladle_bar__plus_00_dot_85_bar__plus_00_dot_96_bar__minus_01_dot_79) + (cleanable Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19) + (cleanable Bowl_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_43) + (cleanable Knife_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_01_dot_53) + (cleanable Spatula_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_87) + (cleanable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53) + (cleanable Cup_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_00_dot_96) + (cleanable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_76_bar__plus_01_dot_90) + (cleanable Ladle_bar__minus_01_dot_95_bar__plus_01_dot_70_bar__minus_01_dot_87) + (cleanable Kettle_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81) + (cleanable Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25) + (cleanable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (cleanable Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02) + (cleanable Kettle_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81) + (cleanable Spoon_bar__minus_01_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_50) + (cleanable Spatula_bar__plus_01_dot_34_bar__plus_00_dot_93_bar__plus_00_dot_03) + (cleanable Ladle_bar__plus_01_dot_34_bar__plus_01_dot_70_bar__minus_00_dot_50) + + (heatable Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_23) + (heatable Cup_bar__minus_01_dot_86_bar__plus_00_dot_12_bar__minus_01_dot_49) + (heatable Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05) + (heatable Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_63) + (heatable Tomato_bar__plus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_71) + (heatable Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02) + (heatable Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19) + (heatable Cup_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_00_dot_96) + (heatable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_76_bar__plus_01_dot_90) + (heatable Bread_bar__plus_01_dot_09_bar__plus_00_dot_99_bar__minus_01_dot_33) + (heatable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (heatable Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02) + (coolable Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_23) + (coolable Cup_bar__minus_01_dot_86_bar__plus_00_dot_12_bar__minus_01_dot_49) + (coolable Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05) + (coolable Lettuce_bar__minus_00_dot_55_bar__plus_00_dot_98_bar__minus_01_dot_87) + (coolable Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_63) + (coolable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57) + (coolable Tomato_bar__plus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_71) + (coolable Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02) + (coolable Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19) + (coolable Bowl_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_43) + (coolable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_53) + (coolable Cup_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_00_dot_96) + (coolable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_76_bar__plus_01_dot_90) + (coolable Pot_bar__plus_00_dot_97_bar__plus_00_dot_90_bar__plus_00_dot_25) + (coolable Bread_bar__plus_01_dot_09_bar__plus_00_dot_99_bar__minus_01_dot_33) + (coolable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (coolable Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02) + + + + + + (sliceable Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_bar__plus_02_dot_23) + (sliceable Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05) + (sliceable Lettuce_bar__minus_00_dot_55_bar__plus_00_dot_98_bar__minus_01_dot_87) + (sliceable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57) + (sliceable Tomato_bar__plus_00_dot_22_bar__plus_00_dot_96_bar__minus_01_dot_71) + (sliceable Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19) + (sliceable Tomato_bar__plus_01_dot_45_bar__plus_01_dot_76_bar__plus_01_dot_90) + (sliceable Bread_bar__plus_01_dot_09_bar__plus_00_dot_99_bar__minus_01_dot_33) + (sliceable Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02) + + (inReceptacle Knife_bar__plus_01_dot_04_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_00_dot_92_bar__plus_00_dot_77_bar__minus_01_dot_18 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle DishSponge_bar__plus_00_dot_98_bar__plus_00_dot_77_bar__minus_01_dot_07 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle SaltShaker_bar__minus_02_dot_17_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) + (inReceptacle Ladle_bar__minus_01_dot_95_bar__plus_01_dot_70_bar__minus_01_dot_87 Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_43 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67) + (inReceptacle PepperShaker_bar__plus_00_dot_98_bar__plus_00_dot_11_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_15_bar__plus_00_dot_12_bar__minus_00_dot_66 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55) + (inReceptacle Cup_bar__plus_01_dot_09_bar__plus_00_dot_12_bar__minus_00_dot_96 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (inReceptacle Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Ladle_bar__plus_01_dot_34_bar__plus_01_dot_70_bar__minus_00_dot_50 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34) + (inReceptacle SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_50 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02) + (inReceptacle Plate_bar__plus_00_dot_59_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) + (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 DishSponge_bar__minus_00_dot_01_bar__plus_00_dot_11_bar__minus_01_dot_68 Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Knife_bar__minus_00_dot_40_bar__plus_00_dot_94_bar__minus_01_dot_53 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__minus_00_dot_55_bar__plus_00_dot_98_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Spatula_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_87 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle PepperShaker_bar__plus_01_dot_18_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) + (inReceptacle Ladle_bar__plus_00_dot_85_bar__plus_00_dot_96_bar__minus_01_dot_79 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Bread_bar__plus_01_dot_09_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) + (inReceptacle Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle 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 ButterKnife_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle 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 Knife_bar__plus_00_dot_76_bar__plus_00_dot_94_bar__minus_01_dot_45 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle ButterKnife_bar__minus_00_dot_68_bar__plus_00_dot_90_bar__minus_01_dot_71 CounterTop_bar__plus_01_dot_17_bar__plus_00_dot_95_bar__minus_00_dot_65) + (inReceptacle DishSponge_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_34_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 Pen_bar__plus_00_dot_85_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 SaltShaker_bar__minus_00_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_62 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 PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_58 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Spoon_bar__minus_01_dot_88_bar__plus_00_dot_77_bar__minus_01_dot_50 Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39) + (inReceptacle HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 CounterTop_bar__plus_01_dot_50_bar__plus_01_dot_20_bar__minus_00_dot_66) + (inReceptacle Cup_bar__minus_01_dot_86_bar__plus_00_dot_12_bar__minus_01_dot_49 Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39) + (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 Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 CoffeeMachine_bar__plus_01_dot_09_bar__plus_00_dot_90_bar__minus_01_dot_88) + (inReceptacle SprayBottle_bar__plus_01_dot_46_bar__plus_00_dot_21_bar__plus_01_dot_11 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Tomato_bar__plus_01_dot_34_bar__plus_00_dot_25_bar__plus_01_dot_05 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle SprayBottle_bar__plus_01_dot_26_bar__plus_00_dot_21_bar__plus_01_dot_11 GarbageCan_bar__plus_01_dot_38_bar__plus_00_dot_00_bar__plus_01_dot_08) + (inReceptacle Apple_bar__plus_01_dot_48_bar__plus_01_dot_40_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_45_bar__plus_01_dot_76_bar__plus_01_dot_90 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) + (inReceptacle Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + (inReceptacle Cup_bar__plus_01_dot_41_bar__plus_01_dot_27_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + (inReceptacle Egg_bar__plus_01_dot_51_bar__plus_01_dot_29_bar__minus_00_dot_02 Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + + + (receptacleAtLocation 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loc_bar_1_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar_2_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39 loc_bar__minus_4_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69 loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69 loc_bar__minus_5_bar__minus_2_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69 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loc_bar__minus_6_bar__minus_4_bar_2_bar_30) + (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) + (objectAtLocation Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_12_bar__minus_01_dot_59 loc_bar__minus_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation Knife_bar__plus_00_dot_76_bar__plus_00_dot_94_bar__minus_01_dot_45 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_59_bar__plus_00_dot_12_bar__minus_01_dot_63 loc_bar_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_92_bar__plus_00_dot_77_bar__minus_01_dot_18 loc_bar_0_bar__minus_3_bar_1_bar_45) + (objectAtLocation Ladle_bar__minus_01_dot_95_bar__plus_01_dot_70_bar__minus_01_dot_87 loc_bar__minus_8_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation Potato_bar__plus_01_dot_41_bar__plus_01_dot_31_bar__plus_00_dot_19 loc_bar_2_bar_0_bar_1_bar_30) + (objectAtLocation 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Spatula_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__minus_01_dot_87 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_98_bar__plus_00_dot_12_bar__plus_00_dot_43 loc_bar_0_bar_0_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_01_dot_26_bar__plus_00_dot_21_bar__plus_01_dot_11 loc_bar_1_bar_7_bar_1_bar_60) + (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 SoapBottle_bar__plus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_50 loc_bar_1_bar__minus_4_bar_1_bar__minus_30) + (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) + (objectAtLocation ButterKnife_bar__plus_01_dot_18_bar__plus_00_dot_91_bar__minus_00_dot_31 loc_bar_2_bar__minus_4_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_17_bar__plus_00_dot_11_bar__minus_01_dot_58 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) 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}, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": -2.16595912, + "y": 1.6510644, + "z": -1.8074913 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_bfcb0336", + "position": { + "x": -1.8609854, + "y": 0.1172322, + "z": -1.48949575 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_e08d0eeb", + "position": { + "x": 1.50585115, + "y": 1.29478192, + "z": -0.0212410931 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1d30af71", + "position": { + "x": 1.34322, + "y": 0.92629987, + "z": 0.031709373 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a0ece05a", + "position": { + "x": 0.9765191, + "y": 0.118411779, + "z": 0.430900037 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_abf5c390", + "position": { + "x": 1.459939, + "y": 0.213943, + "z": 1.10898018 + }, + "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": 1.283191, + "y": 1.65596771, + "z": -1.50081253 + }, + "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": -0.682, + "y": 0.9, + "z": -1.71 + }, + "rotation": { + "x": 0.0, + "y": 14.9999714, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": 1.17697, + "y": 0.9063, + "z": 0.372564077 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b7024f32", + "position": { + "x": 0.982047439, + "y": 0.7744811, + "z": -1.06875849 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_9b638b9f", + "position": { + "x": 1.093845, + "y": 0.989441156, + "z": -1.33170938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 1.47693825, + "y": 1.40215027, + "z": 2.22599983 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_6f7c42a7", + "position": { + "x": -1.87706947, + "y": 0.774390936, + "z": -1.50032341 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 1.07070017, + "y": 0.9575, + "z": -1.64179993 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3257194624, + "scene_num": 8 + }, + "task_id": "trial_T20190908_081542_564499", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3B4YI393VCDPLLW0698R339R43VSSH", + "high_descs": [ + "Turn to the right, then the left to find the microwave. ", + "Pick up the knife from the center of the counter in front of you.", + "Take the knife and turn to around, then left to locate the stove.", + "Place the knife in the pan on the front left burner.", + "Pick up the pan from the front left burner of the stove.", + "Carry the pan and turn to the left, and move to the counter.", + "Place the pan and knife on the back side of the counter, behind the loaf of bread and to the left." + ], + "task_desc": "Move a pan and knife to the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3LUY3GC632H6PVWGQP6MD78KU577PP", + "high_descs": [ + "Turn right and walk to the counter above the dishwasher on the left. ", + "Pick up the knife to the right of the spatula. ", + "Turn around and walk to the stove on the left. ", + "Place the knife inside the pan on the front left burner. ", + "Pick up the pan from the stove. ", + "Turn left and walk to the counter straight ahead with the loaf of bread. ", + "Place the pan down on the counter behind the loaf of bread. " + ], + "task_desc": "To move a pan with a knife to the counter with the bread. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3GNCZX450L4O8XUEXSI6NYAAVDFAPL", + "high_descs": [ + "Turn right walk forward then turn left on the counter above the washer", + "Pick up the knife on the counter", + "Turn right walk forward turn left to the stove", + "Put the knife in the pan", + "Pick up the pan with knife from the stove", + "Turn left walk forward to the counter", + "Put the pan with knife on the high level of the counter" + ], + "task_desc": "Put the pan with knife on the counter", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081608_404049/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081608_404049/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a08182d5f577c2937f1301b8b6314706af9fafb9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081608_404049/initial_state.pddl @@ -0,0 +1,1371 @@ + +(define (problem plan_trial_T20190908_081608_404049) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_25_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Apple_bar__plus_01_dot_38_bar__plus_01_dot_30_bar__minus_00_dot_02 - object + Bowl_bar__plus_00_dot_04_bar__plus_01_dot_66_bar__minus_01_dot_88 - object + Bowl_bar__plus_01_dot_43_bar__plus_01_dot_37_bar__plus_01_dot_98 - object + Bread_bar__plus_01_dot_16_bar__plus_00_dot_98_bar__minus_00_dot_16 - object + Bread_bar__plus_01_dot_34_bar__plus_00_dot_99_bar__plus_00_dot_37 - object + ButterKnife_bar__minus_00_dot_48_bar__plus_00_dot_91_bar__minus_01_dot_87 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_01_dot_73 - object + Cup_bar__plus_01_dot_47_bar__plus_01_dot_27_bar__plus_00_dot_19 - object + Cup_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_01_dot_71 - object + DishSponge_bar__plus_01_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_33 - object + DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_12_bar__minus_01_dot_54 - object + DishSponge_bar__minus_00_dot_46_bar__plus_01_dot_66_bar__minus_01_dot_88 - object + Egg_bar__plus_01_dot_30_bar__plus_01_dot_85_bar__plus_02_dot_31 - object + Egg_bar__plus_01_dot_36_bar__plus_01_dot_75_bar__plus_01_dot_65 - object + Egg_bar__minus_00_dot_09_bar__plus_00_dot_81_bar__minus_01_dot_78 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__plus_00_dot_15_bar__plus_00_dot_92_bar__minus_01_dot_71 - object + Fork_bar__plus_00_dot_59_bar__plus_00_dot_77_bar__minus_01_dot_53 - object + Fork_bar__plus_01_dot_08_bar__plus_00_dot_77_bar__minus_01_dot_01 - object + Glassbottle_bar__plus_01_dot_27_bar__plus_00_dot_12_bar__minus_01_dot_30 - object + Glassbottle_bar__plus_01_dot_28_bar__plus_01_dot_37_bar__plus_02_dot_10 - object + HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object + Kettle_bar__plus_00_dot_77_bar__plus_00_dot_90_bar__minus_01_dot_84 - object + Knife_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_76 - object + Knife_bar__plus_01_dot_00_bar__plus_00_dot_80_bar__plus_00_dot_38 - object + Knife_bar__plus_01_dot_11_bar__plus_00_dot_80_bar__minus_01_dot_18 - object + Ladle_bar__plus_00_dot_85_bar__plus_00_dot_96_bar__minus_01_dot_53 - object + Ladle_bar__plus_01_dot_03_bar__plus_00_dot_16_bar__plus_00_dot_37 - object + Ladle_bar__minus_00_dot_63_bar__plus_00_dot_96_bar__minus_01_dot_79 - object + Lettuce_bar__plus_01_dot_43_bar__plus_01_dot_44_bar__plus_02_dot_23 - object + LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object + Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 - object + Mug_bar__plus_01_dot_28_bar__plus_01_dot_36_bar__plus_02_dot_48 - 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_00_dot_97_bar__plus_00_dot_78_bar__minus_00_dot_70 - object + Pen_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + Pen_bar__minus_01_dot_74_bar__plus_00_dot_78_bar__minus_01_dot_57 - object + PepperShaker_bar__minus_01_dot_80_bar__plus_00_dot_11_bar__minus_01_dot_73 - object + PepperShaker_bar__minus_01_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_93 - object + Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_00_dot_74 - object + Plate_bar__minus_00_dot_68_bar__plus_01_dot_66_bar__minus_01_dot_84 - object + Potato_bar__plus_01_dot_33_bar__plus_01_dot_86_bar__plus_02_dot_18 - object + Potato_bar__plus_01_dot_42_bar__plus_01_dot_76_bar__plus_01_dot_90 - object + Pot_bar__plus_00_dot_97_bar__plus_01_dot_66_bar__minus_01_dot_84 - object + Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + SaltShaker_bar__plus_00_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_73 - object + SaltShaker_bar__plus_00_dot_23_bar__plus_00_dot_11_bar__minus_01_dot_68 - object + SaltShaker_bar__minus_00_dot_75_bar__plus_00_dot_11_bar__minus_01_dot_68 - object + Sink_bar__plus_00_dot_16_bar__plus_00_dot_82_bar__minus_01_dot_80 - object + SoapBottle_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_68 - object + SoapBottle_bar__minus_01_dot_80_bar__plus_00_dot_12_bar__minus_01_dot_59 - object + Spatula_bar__plus_00_dot_76_bar__plus_00_dot_93_bar__minus_01_dot_62 - object + Spatula_bar__plus_01_dot_02_bar__plus_00_dot_79_bar__minus_01_dot_01 - object + Spatula_bar__minus_00_dot_48_bar__plus_00_dot_93_bar__minus_01_dot_79 - object + Spoon_bar__plus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_56 - object + Spoon_bar__plus_00_dot_22_bar__plus_00_dot_92_bar__minus_01_dot_66 - object + Spoon_bar__plus_00_dot_53_bar__plus_00_dot_78_bar__minus_01_dot_50 - object + SprayBottle_bar__minus_00_dot_69_bar__plus_00_dot_11_bar__minus_01_dot_54 - 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_57_bar__plus_00_dot_95_bar__minus_01_dot_87 - object + Tomato_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_14 - object + 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}, + "rotation": { + "x": 1.40334191e-14, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_9b9c5535", + "position": { + "x": 1.34259534, + "y": 1.656733, + "z": -0.73690623 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_af290bda", + "position": { + "x": 1.11385775, + "y": 0.804617167, + "z": -1.17864156 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_af290bda", + "position": { + "x": 0.3200223, + "y": 0.9492503, + "z": -1.75846994 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c69c5340", + "position": { + "x": -0.6526729, + "y": 0.111667871, + "z": -1.68133461 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_441a8bda", + "position": { + "x": 1.459939, + "y": 0.254656553, + "z": 1.08 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_441a8bda", + "position": { + "x": 0.5698826, + "y": 0.951417565, + "z": -1.87489522 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a0ece05a", + "position": { + "x": 1.42646861, + "y": 1.36801827, + "z": 1.976 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": -1.79649973, + "y": 0.111753345, + "z": -1.73225629 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": -0.751154363, + "y": 0.106764436, + "z": -1.68133461 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": 0.110292211, + "y": 0.109609306, + "z": -1.72646379 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_9b638b9f", + "position": { + "x": 1.34322, + "y": 0.989441156, + "z": 0.372564077 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 1.27506363, + "y": 1.36246753, + "z": 2.47600055 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 1.37660515, + "y": 1.30013561, + "z": -0.0212407429 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Tomato_441a8bda", + "position": { + "x": 1.30206108, + "y": 0.254656553, + "z": 1.13796043 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_b308514b", + "position": { + "x": 1.26643789, + "y": 0.115925908, + "z": -1.30160868 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_af290bda", + "position": { + "x": 1.00270033, + "y": 0.8031349, + "z": 0.377106577 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_9b9c5535", + "position": { + "x": -0.67566514, + "y": 1.65624368, + "z": -1.839 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_7aaf3771", + "position": { + "x": 0.14961265, + "y": 0.920098543, + "z": -1.7080245 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_238538e2", + "position": { + "x": 1.03440976, + "y": 0.162223339, + "z": 0.37244302 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_1cf505ed", + "position": { + "x": 1.332813, + "y": 1.859023, + "z": 2.181528 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_0f08525d", + "position": { + "x": 1.42646933, + "y": 1.43663275, + "z": 2.226 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Kettle_e75d4607", + "position": { + "x": 0.770782948, + "y": 0.9, + "z": -1.83614218 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_73e168e3", + "position": { + "x": -0.288930565, + "y": 0.777266562, + "z": -1.50032341 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_a2768593", + "position": { + "x": 0.2320516, + "y": 0.109609306, + "z": -1.67887616 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_bfcb0336", + "position": { + "x": 1.47354031, + "y": 1.26593161, + "z": 0.188763976 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Egg_e08d0eeb", + "position": { + "x": -0.08693077, + "y": 0.805728555, + "z": -1.78119993 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_1d30af71", + "position": { + "x": 1.015, + "y": 0.789916754, + "z": -1.013817 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_a0ece05a", + "position": { + "x": 0.0418224037, + "y": 1.65612578, + "z": -1.87626863 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_abf5c390", + "position": { + "x": -0.6855, + "y": 0.111168504, + "z": -1.53563261 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c0048524", + "position": { + "x": -1.0811, + "y": 0.949799955, + "z": -1.81 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_c69c5340", + "position": { + "x": -1.79649973, + "y": 0.11665678, + "z": -1.5866 + }, + "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": -0.477255583, + "y": 0.911342, + "z": -1.87489557 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1de14ecd", + "position": { + "x": -1.81044948, + "y": 1.6510644, + "z": -1.9263 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b7024f32", + "position": { + "x": 1.01072, + "y": 0.910864234, + "z": -1.33170938 + }, + "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": -2.3302598e-06, + "y": 300.000061, + "z": -3.034287e-06 + } + }, + { + "objectName": "Apple_b66a32b5", + "position": { + "x": 0.251858443, + "y": 0.9542329, + "z": -1.80891538 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_6f7c42a7", + "position": { + "x": 0.528749943, + "y": 0.7755481, + "z": -1.50070083 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_49b86ad0", + "position": { + "x": 1.07070017, + "y": 0.9575, + "z": -1.64179993 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2216372611, + "scene_num": 8 + }, + "task_id": "trial_T20190908_081608_404049", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_308XBLVESLLE3KFLGYMRN4UVEC2RB1", + "high_descs": [ + "Turn right and walk over to the counter.", + "Pick up the butter knife off of the counter.", + "Turn right and walk up to the stove.", + "Put the butter knife in the front left pan on the stove.", + "Pick up the pan with the butter knife in it.", + "Turn left and walk over to the counter.", + "Put the pan with the knife in it on the upper part of the counter in front of you." + ], + "task_desc": "Put a pan with a butter knife in it on the counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3R3YRB5GRIK1022AEEH0X4X93TXAU5", + "high_descs": [ + "Turn right and go to the counter on the left of the Stove.", + "Pick up the gray knife in the back on the counter. ", + "Move over right to the front of the stove. ", + "Place the gray knife in the black pan on the front left burner.", + "Pick up the pan with knife in it. ", + "Turn left and go to the counter on the right of the dish washer. ", + "Place the pan and the knife in it on the shelf above the counter. " + ], + "task_desc": "Put the pan with knife in it on the shelf. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_3OONKJ5DKF0B67N5O65NT9PQ3OWBOO", + "high_descs": [ + "Turn right and go to the counter", + "Pick up the knife on the counter", + "Turn left, go in front of the stove, turn right", + "Put the knife into the pan in the front left", + "Pick up the pan in the front left of the stove", + "Turn left, go to the counter", + "Put the pan on the counter" + ], + "task_desc": "Put a knife in a pan, take the pan to the counter", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081632_840019/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081632_840019/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3ec1c8406757582eb909c6fbf0c340b47d0d20df --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081632_840019/initial_state.pddl @@ -0,0 +1,1285 @@ + +(define (problem plan_trial_T20190908_081632_840019) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_30_bar__plus_00_dot_25_bar__plus_01_dot_08 - object + Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71 - object + Apple_bar__plus_01_dot_41_bar__plus_01_dot_30_bar__minus_00_dot_02 - object + Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_00_dot_82 - object + Bread_bar__plus_01_dot_38_bar__plus_01_dot_45_bar__plus_01_dot_73 - object + ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_92_bar__minus_01_dot_66 - object + Chair_bar__minus_01_dot_99_bar__plus_00_dot_02_bar__plus_00_dot_88 - object + Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68 - object + DishSponge_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_88 - object + Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99 - object + Faucet_bar__minus_00_dot_10_bar__plus_01_dot_04_bar__minus_01_dot_87 - object + Fork_bar__plus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_43 - object + Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_12_bar__minus_00_dot_63 - object + Glassbottle_bar__plus_01_dot_05_bar__plus_01_dot_66_bar__minus_01_dot_91 - object + Glassbottle_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_53 - object + HousePlant_bar__plus_01_dot_44_bar__plus_01_dot_15_bar__plus_00_dot_59 - object + Kettle_bar__plus_00_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_80 - object + Kettle_bar__minus_01_dot_81_bar__plus_01_dot_66_bar__minus_01_dot_87 - object + Knife_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_66 - object + Knife_bar__plus_00_dot_98_bar__plus_00_dot_80_bar__minus_01_dot_07 - object + Ladle_bar__plus_00_dot_65_bar__plus_01_dot_70_bar__minus_01_dot_84 - object + Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__minus_01_dot_19 - object + Ladle_bar__plus_01_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_33 - object + Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57 - object + Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_98 - object + LightSwitch_bar__minus_02_dot_54_bar__plus_01_dot_29_bar__plus_02_dot_57 - object + Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 - object + Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 - object + Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53 - object + Pen_bar__plus_00_dot_97_bar__plus_00_dot_78_bar__plus_00_dot_38 - object + PepperShaker_bar__plus_00_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_76 - object + PepperShaker_bar__plus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_01 - object + 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(pickupable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_02_dot_48) + (pickupable SprayBottle_bar__plus_01_dot_09_bar__plus_00_dot_91_bar__plus_00_dot_03) + (pickupable Apple_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08) + (pickupable PepperShaker_bar__plus_00_dot_81_bar__plus_01_dot_65_bar__minus_01_dot_76) + (pickupable PepperShaker_bar__plus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_01) + (pickupable ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_92_bar__minus_01_dot_66) + (pickupable Knife_bar__plus_00_dot_98_bar__plus_00_dot_80_bar__minus_01_dot_07) + (pickupable Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68) + (pickupable Pot_bar__plus_00_dot_53_bar__plus_00_dot_12_bar__minus_01_dot_59) + (pickupable SoapBottle_bar__minus_00_dot_13_bar__plus_00_dot_11_bar__minus_01_dot_63) + (pickupable SprayBottle_bar__minus_01_dot_48_bar__plus_01_dot_86_bar__minus_01_dot_80) + (pickupable Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_12_bar__minus_00_dot_63) + (pickupable Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81) + (pickupable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_45) + (pickupable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (pickupable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (pickupable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_98) + (pickupable Spatula_bar__plus_01_dot_43_bar__plus_00_dot_93_bar__minus_01_dot_67) + (pickupable Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99) + (pickupable Pen_bar__plus_00_dot_97_bar__plus_00_dot_78_bar__plus_00_dot_38) + (pickupable Spoon_bar__plus_00_dot_75_bar__plus_00_dot_78_bar__minus_01_dot_57) + (pickupable Glassbottle_bar__minus_00_dot_40_bar__plus_00_dot_91_bar__minus_01_dot_53) + (pickupable Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (pickupable Plate_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23) + (pickupable Potato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_61) + (pickupable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81) + (pickupable Ladle_bar__plus_00_dot_65_bar__plus_01_dot_70_bar__minus_01_dot_84) + (pickupable Kettle_bar__minus_01_dot_81_bar__plus_01_dot_66_bar__minus_01_dot_87) + (isReceptacleObject Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_01_dot_19) + (isReceptacleObject Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_00_dot_82) + (isReceptacleObject Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68) + (isReceptacleObject Pot_bar__plus_00_dot_53_bar__plus_00_dot_12_bar__minus_01_dot_59) + (isReceptacleObject Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81) + (isReceptacleObject Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (isReceptacleObject Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (isReceptacleObject Plate_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23) + (isReceptacleObject Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81) + (openable Drawer_bar__minus_02_dot_11_bar__plus_00_dot_75_bar__minus_01_dot_39) + (openable Microwave_bar__plus_01_dot_42_bar__plus_01_dot_15_bar__plus_00_dot_02) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Cabinet_bar__minus_00_dot_87_bar__plus_02_dot_01_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_01_dot_67_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Drawer_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_39) + (openable Cabinet_bar__minus_00_dot_20_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43) + (openable Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (openable Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_06_bar__minus_01_dot_69) + (openable Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (openable Fridge_bar__plus_01_dot_42_bar__plus_00_dot_00_bar__plus_02_dot_10) + (openable Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_00_dot_34) + (openable Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68) + (openable Cabinet_bar__minus_00_dot_24_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_75_bar__minus_01_dot_39) + (openable Drawer_bar__plus_00_dot_59_bar__plus_00_dot_75_bar__minus_01_dot_39) + (openable Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02) + (openable Cabinet_bar__plus_00_dot_49_bar__plus_02_dot_06_bar__minus_01_dot_69) + (openable Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39) + (openable Cabinet_bar__minus_00_dot_69_bar__plus_00_dot_75_bar__minus_01_dot_39) + (openable Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55) + (openable Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__minus_00_dot_70) + (openable Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__plus_00_dot_67) + (openable Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69) + + (atLocation agent1 loc_bar_3_bar_12_bar_0_bar_30) + + (cleanable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_14) + (cleanable Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_01_dot_19) + (cleanable Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71) + (cleanable Knife_bar__plus_00_dot_32_bar__plus_00_dot_95_bar__minus_01_dot_66) + (cleanable Ladle_bar__plus_01_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_33) + (cleanable Apple_bar__plus_01_dot_41_bar__plus_01_dot_30_bar__minus_00_dot_02) + (cleanable DishSponge_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_01_dot_88) + (cleanable Fork_bar__plus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_43) + (cleanable Spatula_bar__plus_01_dot_05_bar__plus_00_dot_79_bar__minus_01_dot_01) + (cleanable Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__minus_01_dot_19) + (cleanable Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_00_dot_82) + (cleanable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57) + (cleanable Potato_bar__plus_01_dot_51_bar__plus_01_dot_31_bar__plus_00_dot_19) + (cleanable Kettle_bar__plus_00_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_80) + (cleanable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_02_dot_48) + (cleanable Apple_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08) + (cleanable ButterKnife_bar__plus_00_dot_12_bar__plus_00_dot_92_bar__minus_01_dot_66) + (cleanable Knife_bar__plus_00_dot_98_bar__plus_00_dot_80_bar__minus_01_dot_07) + (cleanable Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68) + (cleanable Pot_bar__plus_00_dot_53_bar__plus_00_dot_12_bar__minus_01_dot_59) + (cleanable Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81) + (cleanable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_45) + (cleanable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (cleanable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (cleanable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_98) + (cleanable Spatula_bar__plus_01_dot_43_bar__plus_00_dot_93_bar__minus_01_dot_67) + (cleanable Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99) + (cleanable Spoon_bar__plus_00_dot_75_bar__plus_00_dot_78_bar__minus_01_dot_57) + (cleanable Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (cleanable Plate_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23) + (cleanable Potato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_61) + (cleanable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81) + (cleanable Ladle_bar__plus_00_dot_65_bar__plus_01_dot_70_bar__minus_01_dot_84) + (cleanable Kettle_bar__minus_01_dot_81_bar__plus_01_dot_66_bar__minus_01_dot_87) + + (heatable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_14) + (heatable Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_01_dot_19) + (heatable Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71) + (heatable Apple_bar__plus_01_dot_41_bar__plus_01_dot_30_bar__minus_00_dot_02) + (heatable Bread_bar__plus_01_dot_38_bar__plus_01_dot_45_bar__plus_01_dot_73) + (heatable Potato_bar__plus_01_dot_51_bar__plus_01_dot_31_bar__plus_00_dot_19) + (heatable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_02_dot_48) + (heatable Apple_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08) + (heatable Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68) + (heatable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_45) + (heatable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (heatable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (heatable Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99) + (heatable Plate_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23) + (heatable Potato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_61) + (coolable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_14) + (coolable Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_01_dot_19) + (coolable Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71) + (coolable Apple_bar__plus_01_dot_41_bar__plus_01_dot_30_bar__minus_00_dot_02) + (coolable Bread_bar__plus_01_dot_38_bar__plus_01_dot_45_bar__plus_01_dot_73) + (coolable Bowl_bar__plus_01_dot_52_bar__plus_01_dot_66_bar__minus_00_dot_82) + (coolable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57) + (coolable Potato_bar__plus_01_dot_51_bar__plus_01_dot_31_bar__plus_00_dot_19) + (coolable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_02_dot_48) + (coolable Apple_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08) + (coolable Cup_bar__minus_02_dot_11_bar__plus_00_dot_11_bar__minus_01_dot_68) + (coolable Pot_bar__plus_00_dot_53_bar__plus_00_dot_12_bar__minus_01_dot_59) + (coolable Pot_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_81) + (coolable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_45) + (coolable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (coolable Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64) + (coolable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_98) + (coolable Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99) + (coolable Pan_bar__minus_01_dot_43_bar__plus_00_dot_95_bar__minus_01_dot_53) + (coolable Plate_bar__plus_01_dot_33_bar__plus_01_dot_37_bar__plus_02_dot_23) + (coolable Potato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_61) + (coolable Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81) + + + + + + (sliceable Tomato_bar__plus_01_dot_42_bar__plus_00_dot_25_bar__plus_01_dot_14) + (sliceable Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71) + (sliceable Apple_bar__plus_01_dot_41_bar__plus_01_dot_30_bar__minus_00_dot_02) + (sliceable Bread_bar__plus_01_dot_38_bar__plus_01_dot_45_bar__plus_01_dot_73) + (sliceable Lettuce_bar__plus_00_dot_53_bar__plus_00_dot_95_bar__minus_01_dot_57) + (sliceable Potato_bar__plus_01_dot_51_bar__plus_01_dot_31_bar__plus_00_dot_19) + (sliceable Potato_bar__plus_01_dot_43_bar__plus_01_dot_41_bar__plus_02_dot_48) + (sliceable Apple_bar__plus_01_dot_30_bar__plus_00_dot_25_bar__plus_01_dot_08) + (sliceable Tomato_bar__minus_00_dot_70_bar__plus_00_dot_95_bar__minus_01_dot_45) + (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_81) + (sliceable Lettuce_bar__plus_01_dot_33_bar__plus_01_dot_44_bar__plus_01_dot_98) + (sliceable Egg_bar__plus_01_dot_26_bar__plus_00_dot_24_bar__plus_00_dot_99) + (sliceable Potato_bar__plus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_61) + + (inReceptacle Fork_bar__plus_00_dot_90_bar__plus_00_dot_77_bar__plus_00_dot_43 Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43) + (inReceptacle Pen_bar__plus_00_dot_97_bar__plus_00_dot_78_bar__plus_00_dot_38 Drawer_bar__plus_00_dot_86_bar__plus_00_dot_75_bar__plus_00_dot_43) + (inReceptacle Spatula_bar__plus_01_dot_05_bar__plus_00_dot_79_bar__minus_01_dot_01 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle Knife_bar__plus_00_dot_98_bar__plus_00_dot_80_bar__minus_01_dot_07 Drawer_bar__plus_00_dot_87_bar__plus_00_dot_75_bar__minus_01_dot_14) + (inReceptacle Kettle_bar__minus_01_dot_81_bar__plus_01_dot_66_bar__minus_01_dot_87 Cabinet_bar__minus_01_dot_66_bar__plus_02_dot_06_bar__minus_01_dot_68) + (inReceptacle Glassbottle_bar__plus_00_dot_97_bar__plus_00_dot_12_bar__minus_00_dot_63 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_00_dot_55) + (inReceptacle PepperShaker_bar__plus_01_dot_15_bar__plus_00_dot_11_bar__minus_01_dot_01 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (inReceptacle Ladle_bar__plus_01_dot_09_bar__plus_00_dot_16_bar__minus_01_dot_19 Cabinet_bar__plus_00_dot_86_bar__plus_00_dot_40_bar__minus_01_dot_37) + (inReceptacle SaltShaker_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__minus_01_dot_58 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Cabinet_bar__minus_00_dot_19_bar__plus_02_dot_06_bar__minus_01_dot_69) + (inReceptacle Plate_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_01_dot_19 Cabinet_bar__plus_01_dot_16_bar__plus_02_dot_06_bar__minus_01_dot_02) + (inReceptacle SprayBottle_bar__minus_01_dot_48_bar__plus_01_dot_86_bar__minus_01_dot_80 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69) + (inReceptacle SaltShaker_bar__minus_01_dot_35_bar__plus_01_dot_85_bar__minus_01_dot_77 Cabinet_bar__minus_01_dot_61_bar__plus_02_dot_01_bar__minus_01_dot_69) + (inReceptacle Pot_bar__plus_00_dot_53_bar__plus_00_dot_12_bar__minus_01_dot_59 Cabinet_bar__plus_00_dot_83_bar__plus_00_dot_40_bar__minus_01_dot_39) + (inReceptacle Pan_bar__minus_01_dot_08_bar__plus_00_dot_95_bar__minus_01_dot_81 StoveBurner_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_81) + (inReceptacle SoapBottle_bar__minus_00_dot_13_bar__plus_00_dot_11_bar__minus_01_dot_63 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loc_bar_2_bar_9_bar_1_bar_60) + (objectAtLocation Apple_bar__plus_01_dot_39_bar__plus_01_dot_75_bar__plus_01_dot_71 loc_bar_2_bar_9_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_75_bar__plus_00_dot_78_bar__minus_01_dot_57 loc_bar__minus_1_bar__minus_4_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_07_bar__plus_00_dot_96_bar__minus_01_dot_64 loc_bar_2_bar__minus_4_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o ButterKnifeType) + (exists (?mo - object) + (and + (objectType ?mo PanType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-ButterKnife-Pan-CounterTop-8/trial_T20190908_081632_840019/traj_data.json 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"Put the knife in the pan", + "Pick up the pan on the stove", + "Turn right, go forward a bit, turn left in front of the counter", + "Put the pan on the counter" + ], + "task_desc": "Put a knife into a pan and bring them to the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3O7L7BFSHH6ZHOOM02U8AKZPUEHIEB", + "high_descs": [ + "turn around and move forward across the kitchen to the sink", + "pick up the butter knife that is on the mat to the left of the sink an to the right of the potato", + "turn to the right and move to the stove on the left, turning to face the stove", + "put the knife in to the pan that is on the right front burner of the stove", + "pick up the pan with the knife in it from the stove", + "move to face the counter that is to the right of the stove where the toaster is sitting", + "put the pan with the knife on to the front left corner of the counter that is to the right of the stove" + ], + "task_desc": "put a pan with a knife on to the counter to the left of the stove", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_37TD41K0AKQ9E4749NIROY59I0ZCSX", + "high_descs": [ + "turn around and move to the sink", + "pick up the knife from the sink", + "turn right to the gas", + "drop the knife on the pan on the gas", + "pick up the pan from the gas", + "move to the right side of the gas", + "drop the pan on the table" + ], + "task_desc": "drop the pan on the table with a knife in it", + "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-DishSponge-Pot-DiningTable-23/trial_T20190906_205929_443668/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-DiningTable-23/trial_T20190906_205929_443668/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..51216429a1750d1a8789ea3b72dfc30cd0602552 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-DiningTable-23/trial_T20190906_205929_443668/initial_state.pddl @@ -0,0 +1,952 @@ + +(define (problem plan_trial_T20190906_205929_443668) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_35_bar__plus_00_dot_87_bar__minus_01_dot_93 - object + Apple_bar__minus_00_dot_67_bar__plus_00_dot_99_bar__minus_03_dot_63 - object + Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__minus_03_dot_94 - object + Blinds_bar__minus_02_dot_54_bar__plus_02_dot_70_bar__minus_03_dot_96 - object + Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 - object + Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 - object + Bread_bar__minus_00_dot_34_bar__plus_01_dot_44_bar__minus_00_dot_67 - object + ButterKnife_bar__minus_00_dot_53_bar__plus_00_dot_92_bar__minus_03_dot_70 - 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_46 - object + DishSponge_bar__minus_00_dot_23_bar__plus_01_dot_97_bar__minus_01_dot_88 - object + Egg_bar__minus_00_dot_35_bar__plus_01_dot_72_bar__minus_00_dot_98 - object + Egg_bar__minus_01_dot_15_bar__plus_01_dot_66_bar__minus_03_dot_90 - object + Egg_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_03_dot_90 - 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_34_bar__plus_00_dot_08_bar__minus_02_dot_29 - object + Knife_bar__minus_00_dot_22_bar__plus_00_dot_94_bar__minus_03_dot_77 - object + Lettuce_bar__minus_00_dot_46_bar__plus_01_dot_01_bar__minus_03_dot_70 - 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_60 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 - object + Pan_bar__minus_02_dot_17_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Pencil_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_03_dot_24 - object + Pen_bar__minus_00_dot_46_bar__plus_00_dot_92_bar__minus_03_dot_49 - object + PepperShaker_bar__minus_00_dot_39_bar__plus_00_dot_91_bar__minus_03_dot_91 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_74_bar__minus_03_dot_33 - object + PepperShaker_bar__minus_00_dot_75_bar__plus_00_dot_74_bar__minus_03_dot_53 - object + Plate_bar__minus_00_dot_36_bar__plus_01_dot_53_bar__minus_03_dot_71 - object + Plate_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_85 - object + Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_55 - object + Potato_bar__minus_00_dot_23_bar__plus_01_dot_72_bar__minus_00_dot_56 - object + Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_16 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_06_bar__minus_03_dot_69 - 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_94_bar__plus_01_dot_97_bar__minus_03_dot_81 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_16_bar__plus_01_dot_53_bar__minus_02_dot_91 - object + SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_16 - object + SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_84 - object + Spatula_bar__minus_00_dot_30_bar__plus_00_dot_92_bar__minus_02_dot_54 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_00_dot_23_bar__plus_01_dot_75_bar__minus_00_dot_77 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_21_bar__plus_01_dot_53_bar__minus_03_dot_23 - object + WineBottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_03_dot_21 - object + WineBottle_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_03_dot_33 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle + DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle + Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle + Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle + Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_16_bar__minus_10_bar_1_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 Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 MugType) + (objectType Apple_bar__minus_00_dot_35_bar__plus_00_dot_87_bar__minus_01_dot_93 AppleType) + (objectType Pencil_bar__minus_00_dot_51_bar__plus_00_dot_75_bar__minus_03_dot_24 PencilType) + (objectType Bowl_bar__minus_01_dot_60_bar__plus_01_dot_97_bar__minus_03_dot_85 BowlType) + (objectType Potato_bar__minus_00_dot_45_bar__plus_00_dot_83_bar__minus_02_dot_16 PotatoType) + (objectType PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_74_bar__minus_03_dot_33 PepperShakerType) + (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType) + (objectType Plate_bar__minus_00_dot_46_bar__plus_00_dot_08_bar__minus_01_dot_85 PlateType) + (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType) + (objectType Lettuce_bar__minus_00_dot_46_bar__plus_01_dot_01_bar__minus_03_dot_70 LettuceType) + (objectType Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__minus_00_dot_87 BreadType) + (objectType Potato_bar__minus_01_dot_91_bar__plus_00_dot_06_bar__minus_03_dot_69 PotatoType) + (objectType ButterKnife_bar__minus_00_dot_53_bar__plus_00_dot_92_bar__minus_03_dot_70 ButterKnifeType) + (objectType Pot_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 PotType) + (objectType Egg_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_03_dot_90 EggType) + (objectType 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and take out the sponge.", + "Turn right and walk to the oven.", + "Place the sponge in the right pot on the stove.", + "Pick up the pot.", + "Turn around and walk to the right side of the table.", + "Place the pot on the left edge of the table." + ], + "task_desc": "Place a pot with a sponge in it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3VA45EW49Q4AT95DM9CYNXCHGYU1OR", + "high_descs": [ + "Turn right and begin walking to the wall, then hang a left and walk around the kitchen island to the sink and look up.", + "Open the left door of the upper cabinets and remove the sponge.", + "Turn around and walk over to the oven.", + "Place the sponge in the pan on the stove that is on the front right burner.", + "Pick up the pan with sponge in it.", + "Turn around and walk over to the middle of the kitchen island.", + "Place the pan with the sponge in it on the left end of the kitchen island." + ], + "task_desc": "Put a pan with a sponge in it on the kitchen island.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-DiningTable-23/trial_T20190906_210017_172881/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-DiningTable-23/trial_T20190906_210017_172881/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d600c937d87f014eb0fcdbfd39b76535393a60e6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-DishSponge-Pot-DiningTable-23/trial_T20190906_210017_172881/initial_state.pddl @@ -0,0 +1,919 @@ + +(define (problem plan_trial_T20190906_210017_172881) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_87_bar__minus_01_dot_93 - 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_01_dot_10_bar__plus_01_dot_97_bar__minus_03_dot_85 - object + Bread_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_63 - object + ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_90_bar__minus_03_dot_44 - object + Chair_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__minus_01_dot_25 - object + Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 - object + Cup_bar__minus_00_dot_82_bar__plus_00_dot_91_bar__minus_03_dot_63 - object + DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_73 - object + Egg_bar__minus_00_dot_34_bar__plus_01_dot_42_bar__minus_00_dot_98 - object + Egg_bar__minus_01_dot_98_bar__plus_00_dot_06_bar__minus_03_dot_84 - object + Faucet_bar__minus_00_dot_08_bar__plus_00_dot_90_bar__minus_02_dot_03 - object + Fork_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_21 - object + Knife_bar__minus_00_dot_53_bar__plus_00_dot_91_bar__minus_03_dot_53 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__minus_00_dot_98 - object + Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_56 - object + LightSwitch_bar__minus_04_dot_32_bar__plus_01_dot_32_bar__plus_00_dot_00 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 - object + Pan_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + Pencil_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_90 - object + Pen_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_03_dot_27 - object + Pen_bar__minus_01_dot_94_bar__plus_00_dot_03_bar__minus_03_dot_80 - object + Pen_bar__minus_02_dot_01_bar__plus_00_dot_03_bar__minus_03_dot_80 - object + PepperShaker_bar__minus_00_dot_07_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + PepperShaker_bar__minus_00_dot_51_bar__plus_00_dot_74_bar__minus_03_dot_33 - object + PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_74_bar__minus_03_dot_50 - object + Plate_bar__minus_00_dot_38_bar__plus_00_dot_08_bar__minus_01_dot_80 - object + Plate_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_20 - object + Plate_bar__minus_00_dot_75_bar__plus_00_dot_08_bar__minus_03_dot_55 - object + Potato_bar__minus_00_dot_31_bar__plus_01_dot_72_bar__minus_00_dot_77 - object + Potato_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_03_dot_80 - object + Potato_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__minus_03_dot_94 - object + Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 - object + SaltShaker_bar__minus_00_dot_51_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_53_bar__minus_03_dot_71 - object + Spatula_bar__minus_00_dot_30_bar__plus_00_dot_92_bar__minus_02_dot_54 - object + Spoon_bar__minus_00_dot_15_bar__plus_00_dot_92_bar__minus_03_dot_57 - object + Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 - object + StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_18_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_42_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 - object + Tomato_bar__minus_00_dot_34_bar__plus_01_dot_45_bar__minus_00_dot_46 - object + Tomato_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_03_dot_70 - object + Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 - object + WineBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_03_dot_33 - object + WineBottle_bar__minus_00_dot_82_bar__plus_00_dot_92_bar__minus_03_dot_49 - object + Cabinet_bar__minus_00_dot_30_bar__plus_01_dot_92_bar__minus_02_dot_50 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_54 - receptacle + Cabinet_bar__minus_00_dot_31_bar__plus_02_dot_14_bar__minus_02_dot_48 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_80 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_00_dot_39_bar__minus_03_dot_42 - receptacle + Cabinet_bar__minus_00_dot_88_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + Cabinet_bar__minus_01_dot_76_bar__plus_02_dot_14_bar__minus_03_dot_69 - receptacle + CoffeeMachine_bar__minus_00_dot_12_bar__plus_00_dot_90_bar__minus_03_dot_15 - receptacle + CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79 - receptacle + DiningTable_bar__minus_02_dot_43_bar__plus_00_dot_90_bar__minus_01_dot_70 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__minus_03_dot_27 - receptacle + Drawer_bar__minus_00_dot_75_bar__plus_00_dot_78_bar__minus_03_dot_55 - receptacle + Fridge_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_77 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__minus_03_dot_76 - receptacle + Microwave_bar__minus_01_dot_32_bar__plus_01_dot_52_bar__minus_03_dot_85 - receptacle + Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_50 - receptacle + StoveBurner_bar__minus_01_dot_52_bar__plus_00_dot_93_bar__minus_03_dot_75 - receptacle + Toaster_bar__minus_00_dot_15_bar__plus_00_dot_90_bar__minus_02_dot_76 - receptacle + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_6_bar__minus_7_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_1_bar_45 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_15 - location + loc_bar__minus_9_bar__minus_14_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_60 - location + loc_bar__minus_13_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_11_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar__minus_30 - location + loc_bar__minus_6_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_14_bar__minus_7_bar_2_bar_60 - location + loc_bar__minus_6_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_16_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_10_bar__minus_14_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar__minus_9_bar_2_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_30 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar__minus_15 - location + loc_bar__minus_5_bar__minus_12_bar_2_bar_45 - location + loc_bar__minus_15_bar__minus_15_bar_0_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 Apple_bar__minus_01_dot_20_bar__plus_01_dot_70_bar__minus_03_dot_84 AppleType) + (objectType Pencil_bar__minus_02_dot_11_bar__plus_00_dot_92_bar__minus_00_dot_90 PencilType) + (objectType Mug_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_03_dot_14 MugType) + (objectType Plate_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_02_dot_20 PlateType) + (objectType Potato_bar__minus_00_dot_31_bar__plus_01_dot_72_bar__minus_00_dot_77 PotatoType) + (objectType Window_bar__minus_02_dot_50_bar__plus_01_dot_78_bar__minus_04_dot_19 WindowType) + (objectType Cup_bar__minus_00_dot_82_bar__plus_00_dot_91_bar__minus_03_dot_63 CupType) + (objectType StoveKnob_bar__minus_01_dot_03_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType) + (objectType Tomato_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_03_dot_70 TomatoType) + (objectType Fork_bar__minus_00_dot_40_bar__plus_00_dot_80_bar__minus_02_dot_01 ForkType) + (objectType Apple_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__minus_01_dot_93 AppleType) + (objectType Egg_bar__minus_01_dot_98_bar__plus_00_dot_06_bar__minus_03_dot_84 EggType) + (objectType StoveKnob_bar__minus_01_dot_58_bar__plus_01_dot_08_bar__minus_03_dot_96 StoveKnobType) + (objectType Chair_bar__minus_03_dot_26_bar__plus_00_dot_00_bar__minus_02_dot_09 ChairType) + (objectType Spoon_bar__minus_00_dot_33_bar__plus_00_dot_79_bar__minus_02_dot_13 SpoonType) + (objectType DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_03_bar__minus_03_dot_73 DishSpongeType) + (objectType Knife_bar__minus_00_dot_53_bar__plus_00_dot_91_bar__minus_03_dot_53 KnifeType) + (objectType Sink_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_02_dot_01 SinkType) + (objectType SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_53_bar__minus_03_dot_71 SoapBottleType) + (objectType Pot_bar__minus_01_dot_52_bar__plus_00_dot_94_bar__minus_03_dot_50 PotType) + (objectType Lettuce_bar__minus_00_dot_39_bar__plus_01_dot_19_bar__minus_00_dot_56 LettuceType) + (objectType PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_74_bar__minus_03_dot_50 PepperShakerType) + (objectType Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_21 GlassbottleType) + (objectType 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ButterKnife_bar__minus_00_dot_37_bar__plus_00_dot_90_bar__minus_03_dot_44 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Cup_bar__minus_00_dot_82_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_53_bar__plus_00_dot_91_bar__minus_03_dot_53 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle Tomato_bar__minus_00_dot_67_bar__plus_00_dot_98_bar__minus_03_dot_70 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle WineBottle_bar__minus_00_dot_82_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 Bread_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__minus_03_dot_63 CounterTop_bar__minus_00_dot_30_bar__plus_00_dot_95_bar__minus_02_dot_79) + (inReceptacle 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Glassbottle_bar__minus_00_dot_34_bar__plus_00_dot_08_bar__minus_03_dot_21 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (inReceptacle WineBottle_bar__minus_00_dot_42_bar__plus_00_dot_08_bar__minus_03_dot_33 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_40) + (inReceptacle SoapBottle_bar__minus_00_dot_36_bar__plus_01_dot_53_bar__minus_03_dot_71 Cabinet_bar__minus_00_dot_33_bar__plus_01_dot_92_bar__minus_03_dot_39) + (inReceptacle Pan_bar__minus_01_dot_13_bar__plus_00_dot_94_bar__minus_03_dot_50 StoveBurner_bar__minus_01_dot_13_bar__plus_00_dot_93_bar__minus_03_dot_75) + (inReceptacle Pen_bar__minus_00_dot_45_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 PepperShaker_bar__minus_00_dot_51_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 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-2.006342, + "y": 0.0296141542, + "z": -3.79954958 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_3622ecde", + "position": { + "x": -0.398883581, + "y": 0.7977459, + "z": -2.00827861 + }, + "rotation": { + "x": -1.40334191e-14, + "y": 180.000015, + "z": -5.58306645e-21 + } + }, + { + "objectName": "SoapBottle_53032dff", + "position": { + "x": -0.363882124, + "y": 1.52931356, + "z": -3.706563 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Pencil_9e9e972c", + "position": { + "x": -2.114254, + "y": 0.918120444, + "z": -0.8998696 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0004674685 + } + }, + { + "objectName": "WineBottle_cbf780b9", + "position": { + "x": -0.421354771, + "y": 0.08195382, + "z": -3.33048749 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_cdf5a5fc", + "position": { + "x": -0.3, + "y": 0.915, + "z": -2.544 + }, + "rotation": { + "x": 0.0, + "y": 22.9034386, + "z": 0.0 + } + }, + { + "objectName": "Bread_fbb38b83", + "position": { + "x": -0.412630975, + "y": 0.9601392, + "z": -3.62805128 + }, + "rotation": { + "x": 357.6947, + "y": 0.3309332, + "z": 357.8654 + } + }, + { + "objectName": "Tomato_3d47a8d4", + "position": { + "x": -0.671999454, + "y": 0.9796113, + "z": -3.697545 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_8d50963e", + "position": { + "x": -1.1294, + "y": 0.9357, + "z": -3.4986 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_3611fe48", + "position": { + "x": -0.815079451, + "y": 0.914786339, + "z": -3.62676835 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_45f18f99", + "position": { + "x": -1.5155, + "y": 0.9357, + "z": -3.4974 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_895229e9", + "position": { + "x": -0.5083166, + "y": 0.9121062, + "z": -2.56359529 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_7baac0ce", + "position": { + "x": -1.309959, + "y": 1.66156638, + "z": -3.80404925 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_b8151885", + "position": { + "x": -0.807929635, + "y": 0.7430744, + "z": -3.49782372 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f1c487d3", + "position": { + "x": -0.371308923, + "y": 0.9039049, + "z": -3.44393826 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_b4789065", + "position": { + "x": -1.91253221, + "y": 0.02652556, + "z": -3.72718143 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a6c5bfa2", + "position": { + "x": -0.328, + "y": 0.7866412, + "z": -2.125 + }, + "rotation": { + "x": 0.0, + "y": 33.89591, + "z": 0.0 + } + }, + { + "objectName": "Plate_dc085d43", + "position": { + "x": -0.422205657, + "y": 0.08366948, + "z": -2.20135021 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_d25a57c3", + "position": { + "x": -0.5342683, + "y": 0.910906136, + "z": -3.53111243 + }, + "rotation": { + "x": 88.9455643, + "y": 172.517487, + "z": 174.2129 + } + }, + { + "objectName": "Mug_80763932", + "position": { + "x": -0.3511, + "y": 0.962205052, + "z": -3.14499927 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Bowl_91c0655d", + "position": { + "x": -1.10090959, + "y": 1.96871722, + "z": -3.85109758 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4027475600, + "scene_num": 23 + }, + "task_id": "trial_T20190906_210017_172881", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A22051NK9RQ4FV_35GCEFQ6I85I2GXZBM1YROYIYM93ZL", + "high_descs": [ + "Turn right and go to the waste basket next to the stove.", + "Pick up the green sponge from the waste basket.", + "Turn left and face the front of the stove. ", + "Put the green sponge in the pot on the stove.", + "Pick up the pot with the sponge in it.", + "Turn around and go to the table with the green top along the side where the refrigerator is . Face the table.", + "Put the pot with the sponge in it on the far right side of the table." + ], + "task_desc": "Put a sponge in a pot, take them both to the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3F1567XTNZMV3QLO5ZJVR8P0TAN9Q1", + "high_descs": [ + "Turn right, go to the metal trash can next to the oven.", + "Take the green sponge from the trash can.", + "Go around the white oven to its front.", + "Put the sponge in the pot on the front right burner on the stove top.", + "Take the pot from the stove top.", + "Turn left, go to the sink and face the sink. Turn around and go to the green table.", + "Put the pot on the right side of the green table." + ], + "task_desc": "Put a pot with a sponge in it on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3YMTUJH0DVX7Y07458HZF5P7RTU4T8", + "high_descs": [ + "Turn right and move towards the silver trash can next to the white range.", + "Pick up the green sponge from the bottom of the trash can.", + "Turn left, move towards the green and white kitchen table, then turn right, move to the front of the range, then turn right and face the range.", + "Place the green sponge in the two handle pot on the range's front right burner.", + "Pick up the two handled pot containing the sponge to the left of the pan on the top of the range.", + "Turn around and move towards the black refrigerator then turn left and face the center of the kitchen table.", + "Place the two handle pot containing the sponge on the corner of the kitchen table closest to the refrigerator and to the left of the pen." + ], + "task_desc": "Place a pot containing a sponge on the kitchen 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-Egg-Pan-Fridge-17/trial_T20190908_164517_910369/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Egg-Pan-Fridge-17/trial_T20190908_164517_910369/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..13fec631cc9dbe47b12b131e5c161ba697b97b86 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Egg-Pan-Fridge-17/trial_T20190908_164517_910369/initial_state.pddl @@ -0,0 +1,1313 @@ + +(define (problem plan_trial_T20190908_164517_910369) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_44_bar__plus_00_dot_97_bar__minus_00_dot_43 - object + Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64 - object + Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68 - object + Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_88 - object + Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 - object + Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 - object + ButterKnife_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_77 - object + CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52 - object + DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_33 - object + Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 - object + Glassbottle_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Glassbottle_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_53 - object + Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Kettle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_13 - object + Knife_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_43 - object + Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_83 - object + Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37 - object + Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78 - object + Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 - object + PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_83 - object + PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Plate_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_78 - object + Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43 - object + Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09 - object + Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49 - object + SaltShaker_bar__plus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_73 - object + SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 - object + SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_51 - object + Spatula_bar__plus_01_dot_20_bar__plus_00_dot_90_bar__plus_02_dot_58 - object + Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_71 - object + Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46 - object + Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Spoon_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + SprayBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + SprayBottle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + 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Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + 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loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_2_bar_11_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType 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Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (openable Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (openable Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (openable Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (openable Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + + (atLocation agent1 loc_bar__minus_2_bar_11_bar_3_bar_30) + + (cleanable Kettle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15) + (cleanable ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_03_dot_02) + (cleanable Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_83) + (cleanable Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52) + (cleanable Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71) + (cleanable Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90) + (cleanable Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43) + (cleanable Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65) + (cleanable ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43) + (cleanable Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99) + (cleanable Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64) + (cleanable Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47) + (cleanable Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47) + (cleanable Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09) + (cleanable Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_13) + (cleanable DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_33) + (cleanable Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37) + (cleanable Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_71) + (cleanable Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46) + (cleanable Knife_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_43) + (cleanable Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37) + (cleanable Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43) + (cleanable Spoon_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_01_dot_90) + (cleanable Plate_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_78) + (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98) + (cleanable ButterKnife_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42) + (cleanable Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_88) + (cleanable Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49) + (cleanable Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09) + (cleanable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68) + (cleanable Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78) + (cleanable Spatula_bar__plus_01_dot_20_bar__plus_00_dot_90_bar__plus_02_dot_58) + + (heatable Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14) + (heatable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52) + (heatable Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46) + (heatable Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43) + (heatable Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65) + (heatable Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99) + (heatable Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64) + (heatable Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47) + (heatable Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09) + (heatable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64) + (heatable Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43) + (heatable Plate_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_78) + (heatable Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14) + (heatable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68) + (heatable Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78) + (coolable Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14) + (coolable WineBottle_bar__minus_01_dot_23_bar__plus_00_dot_34_bar__plus_01_dot_30) + (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52) + (coolable Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46) + (coolable Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43) + (coolable Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65) + (coolable Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99) + (coolable Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64) + (coolable WineBottle_bar__minus_00_dot_93_bar__plus_01_dot_66_bar__minus_00_dot_85) + (coolable Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47) + (coolable Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47) + (coolable Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09) + (coolable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64) + (coolable Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37) + (coolable Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43) + (coolable Plate_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_78) + (coolable Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98) + (coolable Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14) + (coolable Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_88) + (coolable Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49) + (coolable Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09) + (coolable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68) + (coolable Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78) + + (isCool Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99) + + + + (sliceable Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46) + (sliceable Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43) + (sliceable Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65) + (sliceable Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99) + (sliceable Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64) + (sliceable Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47) + (sliceable Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09) + (sliceable Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64) + (sliceable Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37) + (sliceable Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43) + (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98) + (sliceable Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68) + + (inReceptacle SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_51 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle WineBottle_bar__minus_00_dot_93_bar__plus_01_dot_66_bar__minus_00_dot_85 Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65) + (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (inReceptacle SaltShaker_bar__plus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_73 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle ButterKnife_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SprayBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Kettle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Glassbottle_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_20_bar__plus_00_dot_90_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47) + (inReceptacle Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_77 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73) + (inReceptacle Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47) + (inReceptacle DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_33 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37) + (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SprayBottle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle WineBottle_bar__minus_01_dot_23_bar__plus_00_dot_34_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle Glassbottle_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_53 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation 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loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spoon_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation ButterKnife_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_41_bar__plus_00_dot_13_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__plus_01_dot_26_bar__plus_02_dot_15_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar__minus_30) + (objectAtLocation Knife_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Apple_bar__plus_01_dot_44_bar__plus_00_dot_97_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_01_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation WineBottle_bar__minus_01_dot_23_bar__plus_00_dot_34_bar__plus_01_dot_30 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_51 loc_bar_2_bar_0_bar_1_bar__minus_30) + (objectAtLocation Lettuce_bar__plus_01_dot_03_bar__plus_00_dot_96_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation CellPhone_bar__plus_01_dot_16_bar__plus_00_dot_77_bar__plus_00_dot_77 loc_bar_3_bar_2_bar_1_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_13 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (objectAtLocation Glassbottle_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Bread_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_01_bar__plus_00_dot_81_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_21_bar__plus_00_dot_75_bar__plus_00_dot_78 loc_bar__minus_1_bar_3_bar_3_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spoon_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Glassbottle_bar__minus_00_dot_08_bar__plus_00_dot_76_bar__minus_00_dot_53 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Potato_bar__plus_01_dot_21_bar__plus_00_dot_96_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Kettle_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_36_bar__plus_00_dot_96_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Plate_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_01_dot_71_bar__plus_00_dot_98 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_00_dot_51_bar__plus_00_dot_94_bar__minus_00_dot_49 loc_bar_2_bar_0_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__minus_00_dot_93_bar__plus_01_dot_66_bar__minus_00_dot_85 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (objectAtLocation Spatula_bar__plus_01_dot_20_bar__plus_00_dot_90_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Apple_bar__minus_01_dot_26_bar__plus_01_dot_70_bar__plus_00_dot_68 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_52 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (objectAtLocation Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Egg_bar__minus_01_dot_13_bar__plus_00_dot_38_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_83 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_15_bar__plus_01_dot_47_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation DishSponge_bar__plus_01_dot_13_bar__plus_00_dot_78_bar__plus_00_dot_33 loc_bar_3_bar_1_bar_1_bar_60) + (objectAtLocation Pan_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation SprayBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_21_bar__plus_01_dot_28_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r FridgeType) + (exists (?o - object) + (and + (objectType ?o EggType) + (exists (?mo - object) + (and + (objectType ?mo PanType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) 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room to the stove.", + "Pick up the pan on the left front burner of the stove.", + "Go to the fridge.", + "Put the pan in to the fridge.", + "Take the egg out of the fridge.", + "Put the egg in the pan." + ], + "task_desc": "Put a pan with an egg in it into 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-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fb9cd4e7e8299fa90ab6841f6b7f1f64df5da039 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/initial_state.pddl @@ -0,0 +1,1473 @@ + +(define (problem plan_trial_T20190909_011626_616994) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_00_dot_87_bar__plus_01_dot_26 - object + Apple_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_07 - object + Apple_bar__minus_01_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_81 - object + Bowl_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_15 - object + Bowl_bar__minus_00_dot_86_bar__plus_00_dot_33_bar__minus_00_dot_30 - object + Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_69 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_52 - object + ButterKnife_bar__plus_02_dot_00_bar__plus_00_dot_80_bar__plus_01_dot_41 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_52 - object + DishSponge_bar__plus_02_dot_12_bar__plus_02_dot_28_bar__minus_01_dot_83 - object + DishSponge_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_18 - object + Egg_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_97 - object + Egg_bar__minus_00_dot_71_bar__plus_00_dot_86_bar__plus_01_dot_26 - object + Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_88 - object + Fork_bar__plus_02_dot_24_bar__plus_00_dot_77_bar__plus_03_dot_66 - object + Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_45 - object + Glassbottle_bar__plus_01_dot_47_bar__plus_01_dot_03_bar__minus_01_dot_67 - object + Glassbottle_bar__plus_03_dot_00_bar__plus_01_dot_03_bar__plus_01_dot_30 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + 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Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + PaperTowelRoll_bar__plus_02_dot_79_bar__plus_01_dot_13_bar__minus_00_dot_85 - object + PepperShaker_bar__plus_01_dot_99_bar__plus_00_dot_80_bar__plus_01_dot_22 - object + PepperShaker_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_04_dot_32 - object + Plate_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 - object + Plate_bar__plus_02_dot_89_bar__plus_00_dot_76_bar__plus_04_dot_31 - object + Potato_bar__plus_01_dot_47_bar__plus_01_dot_07_bar__minus_01_dot_45 - object + Potato_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_02_dot_56 - object + Potato_bar__minus_00_dot_88_bar__plus_01_dot_48_bar__minus_00_dot_18 - object + Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__plus_01_dot_95_bar__plus_01_dot_02_bar__plus_01_dot_16 - object + SaltShaker_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_56_bar__plus_00_dot_03_bar__minus_00_dot_32 - object + Spatula_bar__plus_02_dot_36_bar__plus_00_dot_78_bar__plus_04_dot_13 - object + Spatula_bar__plus_02_dot_87_bar__plus_00_dot_82_bar__minus_00_dot_31 - object + Spoon_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_50 - object + Spoon_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_82 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_00_dot_85 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + 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Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - 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+ (objectType ?mo PlateType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..214509e938cb6de655c636a1ec222539ebd65154 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011626_616994/traj_data.json @@ -0,0 +1,4577 @@ +{ + "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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"position": { + "x": -0.544271946, + "y": 1.06950378, + "z": 2.55691051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Ladle_8232b75a", + "position": { + "x": 2.89354444, + "y": 0.0717442, + "z": -0.6894076 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_6be5e93d", + "position": { + "x": 2.97600031, + "y": 0.8181622, + "z": 3.821563 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Pot_267fd2ad", + "position": { + "x": 1.761, + "y": 1.0276562, + "z": -1.59929013 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_ca02bbc4", + "position": { + "x": -0.9460952, + "y": 1.7822876, + "z": 0.853009164 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1895c9f9", + "position": { + "x": 1.92599988, + "y": 0.764959335, + "z": 3.8957808 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Spatula_87bb090b", + "position": { + "x": 2.87408543, + "y": 0.8162017, + "z": -0.3137451 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_758d0bf4", + "position": { + "x": 2.79063821, + "y": 1.13115883, + "z": -0.8465846 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.22834373, + "y": 0.8226273, + "z": 4.495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -1.03853559, + "y": 0.127627268, + "z": 2.81115246 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": 1.95072412, + "y": 1.02317965, + "z": 1.15879142 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": 1.99337685, + "y": 0.7980786, + "z": 1.21893966 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": 1.99621892, + "y": 0.8018145, + "z": 1.41062331 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": -0.968221545, + "y": 1.510216, + "z": -0.516975045 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.90682584, + "y": 0.784805, + "z": -0.5169748 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.11627555, + "y": 2.27872849, + "z": -1.832928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": -0.858407438, + "y": 0.332875639, + "z": -0.2950245 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": 2.59943748, + "y": 0.7655996, + "z": 4.495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.30256248, + "y": 0.759470344, + "z": 3.795 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 543297107, + "scene_num": 16 + }, + "task_id": "trial_T20190909_011626_616994", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A255A9FFZD8PQW_35USIKEBNU7V3ZSWN8DJ4QNVTRB6N3", + "high_descs": [ + "Turn around completely and walk forward. Turn to the left and then turn right at the counter to the sink.", + "Pick up the knife from the sink.", + "Turn to the left and walk forward. Turn right and walk to the table. ", + "Place the knife on plate on the table. ", + "Pick up the plate and knife from the table.", + "Turn to the right and walk to the counter. Turn right and go to the sink.", + "Place the knife and plate in the sink. " + ], + "task_desc": "Place the knife and plate in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ACSS93E03ZUGX_3HVVDCPGTHJVHW7MQNUNWGDGHJQTYR", + "high_descs": [ + "Turn around, go straight, then left, then right to face the sink.", + "Pick up the yellow knife from the sink.", + "Go to the right, then turn around and go straight to face the white table.", + "Place the yellow knife on top of the white plate on the table.", + "Pick the white plate up from off of the white table.", + "Turn to the right, go straight then to the left to face the sink.", + "Place the plate with the knife on it in the sink." + ], + "task_desc": "Place the white plate with the knife on it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3VE8AYVF8PO6JLY3IZR4GZADXUZF89", + "high_descs": [ + "Turn around and then turn left and face the sink on the right side.", + "Pick up the knife from inside the sink.", + "Carry the knife and turn to the right, then the right again to locate the white table.", + "Place the knife on the plate, that is close to the center.", + "Pick up the plate from the table.", + "Carry the plate and turn to the right and then the right again. Turn left and face the sink on the right side.", + "Place the knife and plate in the sink." + ], + "task_desc": "Move a knife and plate to the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011955_234942/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011955_234942/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7ce88455e2178edd08559f0d22d9fc466d5180db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_011955_234942/initial_state.pddl @@ -0,0 +1,1503 @@ + +(define (problem plan_trial_T20190909_011955_234942) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_18_bar__plus_00_dot_81_bar__plus_04_dot_45 - object + Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 - object + Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 - object + Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_07 - object + Bread_bar__plus_02_dot_38_bar__plus_00_dot_83_bar__plus_04_dot_32 - object + Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_02_dot_31 - object + ButterKnife_bar__plus_02_dot_11_bar__plus_00_dot_76_bar__plus_03_dot_53 - object + ButterKnife_bar__plus_02_dot_54_bar__plus_00_dot_76_bar__plus_03_dot_81 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_04 - object + Cup_bar__plus_02_dot_17_bar__plus_00_dot_76_bar__plus_03_dot_48 - object + Cup_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_19 - object + DishSponge_bar__plus_01_dot_34_bar__plus_01_dot_78_bar__minus_01_dot_95 - object + DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_80_bar__plus_01_dot_31 - object + DishSponge_bar__plus_02_dot_06_bar__plus_00_dot_80_bar__plus_01_dot_34 - object + Egg_bar__plus_02_dot_88_bar__plus_01_dot_07_bar__minus_01_dot_15 - object + Egg_bar__minus_00_dot_83_bar__plus_01_dot_49_bar__minus_00_dot_74 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_00_dot_22 - object + Glassbottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_31 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_32_bar__plus_00_dot_79_bar__plus_03_dot_84 - object + Knife_bar__plus_02_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_10 - object + Knife_bar__plus_02_dot_79_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_00_dot_24 - object + Lettuce_bar__plus_01_dot_41_bar__plus_01_dot_09_bar__minus_01_dot_45 - object + Lettuce_bar__plus_02_dot_48_bar__plus_00_dot_82_bar__plus_03_dot_68 - object + Lettuce_bar__plus_02_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_62 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 - object + Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pan_bar__plus_02_dot_54_bar__plus_01_dot_03_bar__plus_01_dot_15 - object + PaperTowelRoll_bar__plus_02_dot_20_bar__plus_00_dot_87_bar__plus_04_dot_25 - object + PepperShaker_bar__minus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_70 - object + Plate_bar__plus_02_dot_62_bar__plus_01_dot_03_bar__minus_00_dot_24 - object + Plate_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 - object + Plate_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 - object + Plate_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_13 - object + Potato_bar__minus_00_dot_91_bar__plus_00_dot_38_bar__minus_00_dot_52 - object + Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_52 - object + Potato_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + SaltShaker_bar__plus_02_dot_44_bar__plus_00_dot_80_bar__plus_00_dot_64 - object + SaltShaker_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_04_dot_19 - object + SaltShaker_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_68 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + SoapBottle_bar__plus_02_dot_61_bar__plus_00_dot_76_bar__plus_03_dot_85 - object + Spatula_bar__plus_02_dot_45_bar__plus_00_dot_78_bar__plus_04_dot_15 - object + Spoon_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_09 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_01_dot_95_bar__plus_01_dot_08_bar__plus_02_dot_00 - object + Tomato_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_01_dot_94 - object + Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_74 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_03_bar__plus_00_dot_77_bar__plus_03_dot_87 - object + WineBottle_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 - object + WineBottle_bar__plus_03_dot_07_bar__plus_00_dot_04_bar__plus_00_dot_17 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - 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Cup_bar__plus_02_dot_17_bar__plus_00_dot_76_bar__plus_03_dot_48) + (inReceptacleObject Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_00_dot_24 Plate_bar__plus_02_dot_62_bar__plus_01_dot_03_bar__minus_00_dot_24) + (inReceptacle Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Tomato_bar__plus_01_dot_95_bar__plus_01_dot_08_bar__plus_02_dot_00 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_02_dot_79_bar__plus_01_dot_05_bar__plus_01_dot_10 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_00_dot_24 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle 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DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_02_dot_11_bar__plus_00_dot_76_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_19 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_02_dot_54_bar__plus_00_dot_76_bar__plus_03_dot_81 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle WineBottle_bar__plus_02_dot_03_bar__plus_00_dot_77_bar__plus_03_dot_87 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_48_bar__plus_00_dot_82_bar__plus_03_dot_68 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_38_bar__plus_00_dot_83_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_17_bar__plus_00_dot_76_bar__plus_03_dot_48 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_10_bar__plus_00_dot_76_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PaperTowelRoll_bar__plus_02_dot_20_bar__plus_00_dot_87_bar__plus_04_dot_25 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SoapBottle_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_67_bar__plus_00_dot_82_bar__plus_03_dot_62 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle WineBottle_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SaltShaker_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_04_dot_19 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_18_bar__plus_00_dot_81_bar__plus_04_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__plus_02_dot_45_bar__plus_00_dot_78_bar__plus_04_dot_15 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SoapBottle_bar__plus_02_dot_61_bar__plus_00_dot_76_bar__plus_03_dot_85 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PepperShaker_bar__minus_00_dot_80_bar__plus_00_dot_80_bar__plus_00_dot_70 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Glassbottle_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Tomato_bar__minus_00_dot_42_bar__plus_01_dot_08_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Spoon_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_09 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13) + (inReceptacle Fork_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_00_dot_22 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27) + (inReceptacle SaltShaker_bar__plus_02_dot_44_bar__plus_00_dot_80_bar__plus_00_dot_64 Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72) + (inReceptacle DishSponge_bar__plus_02_dot_06_bar__plus_00_dot_80_bar__plus_01_dot_34 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35) + (inReceptacle DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_80_bar__plus_01_dot_31 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35) + (inReceptacle WineBottle_bar__plus_03_dot_07_bar__plus_00_dot_04_bar__plus_00_dot_17 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle SaltShaker_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_68 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87) + (inReceptacle DishSponge_bar__plus_01_dot_34_bar__plus_01_dot_78_bar__minus_01_dot_95 Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71) + (inReceptacle Plate_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_13 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34) + (inReceptacle Potato_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Egg_bar__minus_00_dot_83_bar__plus_01_dot_49_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_07 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Potato_bar__minus_00_dot_91_bar__plus_00_dot_38_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30) + (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Bowl_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 loc_bar_8_bar__minus_4_bar_2_bar_0) + (objectAtLocation DishSponge_bar__plus_01_dot_82_bar__plus_00_dot_80_bar__plus_01_dot_31 loc_bar_4_bar_4_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_17_bar__plus_00_dot_76_bar__plus_03_dot_48 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Bread_bar__plus_02_dot_38_bar__plus_00_dot_83_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation ButterKnife_bar__plus_02_dot_54_bar__plus_00_dot_76_bar__plus_03_dot_81 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_68 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(objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_02_dot_82_bar__plus_00_dot_80_bar__minus_00_dot_22 loc_bar_7_bar_0_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_00_dot_24 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0) + (objectAtLocation WineBottle_bar__plus_02_dot_03_bar__plus_00_dot_77_bar__plus_03_dot_87 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Plate_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Spatula_bar__plus_02_dot_45_bar__plus_00_dot_78_bar__plus_04_dot_15 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_02_dot_20_bar__plus_00_dot_87_bar__plus_04_dot_25 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30) + (objectAtLocation Lettuce_bar__plus_01_dot_41_bar__plus_01_dot_09_bar__minus_01_dot_45 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Apple_bar__plus_02_dot_18_bar__plus_00_dot_81_bar__plus_04_dot_45 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__plus_02_dot_44_bar__plus_00_dot_80_bar__plus_00_dot_64 loc_bar_8_bar__minus_1_bar_0_bar_45) + (objectAtLocation 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+ "position": { + "x": 1.40992928, + "y": 1.08503044, + "z": -1.454138 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.47856665, + "y": 0.8226273, + "z": 3.68268323 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "Pan_c7f7c9bb", + "position": { + "x": 2.116, + "y": 1.0276562, + "z": -1.84 + }, + "rotation": { + "x": 0.0, + "y": 270.0001, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_105a13ed", + "position": { + "x": -0.6696348, + "y": 1.02821672, + "z": 2.31163669 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_2539b087", + "position": { + "x": 2.32112479, + "y": 0.789819956, + "z": 3.84012485 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_a47378fd", + "position": { + "x": 2.30256248, + "y": 0.7631421, + "z": 3.62 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_6cf51d94", + "position": { + "x": -0.831672966, + "y": 1.48612344, + "z": -0.7389246 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Fork_8af67485", + "position": { + "x": 2.81840658, + "y": 0.8017503, + "z": -0.221534073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_a189bfca", + "position": { + "x": -0.90705353, + "y": 0.3764452, + "z": -0.516975641 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Ladle_8232b75a", + "position": { + "x": 2.79063821, + "y": 1.066041, + "z": -0.236300111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_6be5e93d", + "position": { + "x": 1.953391, + "y": 1.08056533, + "z": 1.99812388 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Pot_267fd2ad", + "position": { + "x": 2.177, + "y": 1.0276562, + "z": -1.59929013 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_ca02bbc4", + "position": { + "x": 2.59943748, + "y": 0.765399, + "z": 4.32 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1895c9f9", + "position": { + "x": 2.621801, + "y": 1.02736247, + "z": -0.236300111 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_87bb090b", + "position": { + "x": 2.451, + "y": 0.7794702, + "z": 4.145 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_758d0bf4", + "position": { + "x": 2.20305252, + "y": 0.8687557, + "z": 4.25101852 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.67365623, + "y": 0.8226273, + "z": 3.62 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": 2.17549181, + "y": 0.8148228, + "z": 4.447192 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": -0.94294405, + "y": 2.286376, + "z": -0.676932335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": -0.802687466, + "y": 0.7966369, + "z": 0.696667552 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": 2.542836, + "y": 0.7645124, + "z": 3.810936 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.37678123, + "y": 0.832571, + "z": 4.32 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": 2.16633582, + "y": 0.76306, + "z": 3.475413 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 1.81909728, + "y": 0.8013367, + "z": 1.30846584 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 1.895014, + "y": 1.85949171, + "z": -1.80947411 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": 2.76249552, + "y": 0.8023939, + "z": -1.08643961 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.8038, + "y": 1.07065928, + "z": 0.646000445 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3370462126, + "scene_num": 16 + }, + "task_id": "trial_T20190909_011955_234942", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1MKCTVKE7J0ZP_36DSNE9QZ8PP9F7F867LSJS5578JO9", + "high_descs": [ + "Turn to the right and move forward, then turn left to face the counter.", + "Pick up the knife on the counter.", + "Move to the counter at your left, with the plates on it.", + "Put the knife on the left most plate.", + "Pick up the left most plate on the counter.", + "Turn around and go to the sink ahead of you.", + "Put the plate in the sink." + ], + "task_desc": "Put a plate with a knife on it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_39LOEL67OVWB39IAY4Q2FQLGU5T83U", + "high_descs": [ + "Turn right and walk to the counter on the left.", + "Pick up the knife with the yellow handle on the counter.", + "Turn left and face the counter on the right.", + "Put the knife on the white plate to the left on the counter.", + "Pick up the plate with the knife from the counter.", + "Turn around, head right towards the edge of the counter and walk to the sink on the left.", + "Put the plate with the knife inside the sink." + ], + "task_desc": "Place a plate with a knife in a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3ATTHHXXWDFG8D11RF9HZV4Y4WTXIL", + "high_descs": [ + "Step to the right then move forward to the counter. ", + "Pick up the yellow knife off of the counter.", + "Step to the left then turn and face the counter to the right.", + "Set the knife on the plate on the counter.", + "Pick up the plate and knife off of the counter. ", + "Turn around completely and move forward. Turn right and move forward to the sink", + "Place the knife and plate in the sink. " + ], + "task_desc": "Move a plate and knife to the sink. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_012131_475043/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_012131_475043/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..869bbf2ccc9af0464765b39abd78f5dd47b2b617 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Plate-SinkBasin-16/trial_T20190909_012131_475043/initial_state.pddl @@ -0,0 +1,1468 @@ + +(define (problem plan_trial_T20190909_012131_475043) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_90_bar__minus_01_dot_84 - object + Apple_bar__plus_02_dot_44_bar__plus_00_dot_81_bar__plus_03_dot_54 - object + Bowl_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_79 - object + Bread_bar__plus_02_dot_98_bar__plus_00_dot_83_bar__plus_03_dot_90 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_18 - object + ButterKnife_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_11_bar__plus_01_dot_86_bar__minus_01_dot_78 - object + Cup_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_97 - object + Cup_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 - object + DishSponge_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_45 - object + DishSponge_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_84 - object + Egg_bar__plus_02_dot_20_bar__plus_01_dot_07_bar__plus_01_dot_95 - object + Egg_bar__plus_02_dot_53_bar__plus_00_dot_81_bar__plus_04_dot_32 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_01_dot_64_bar__plus_00_dot_80_bar__plus_01_dot_60 - object + Fork_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 - object + Glassbottle_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_03_dot_90 - object + Glassbottle_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_01_dot_29_bar__plus_01_dot_05_bar__minus_01_dot_88 - object + Knife_bar__plus_02_dot_79_bar__plus_00_dot_79_bar__plus_03_dot_53 - object + Knife_bar__minus_00_dot_32_bar__plus_01_dot_05_bar__plus_01_dot_45 - object + Ladle_bar__minus_00_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_70 - object + Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_97 - object + Lettuce_bar__plus_02_dot_76_bar__plus_00_dot_82_bar__plus_04_dot_18 - object + Lettuce_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_01_dot_76 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 - object + Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + PaperTowelRoll_bar__plus_01_dot_93_bar__plus_00_dot_87_bar__plus_03_dot_75 - object + PepperShaker_bar__plus_01_dot_95_bar__plus_01_dot_02_bar__plus_01_dot_16 - object + PepperShaker_bar__minus_00_dot_36_bar__plus_01_dot_02_bar__plus_01_dot_26 - object + PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_00_dot_37 - object + Plate_bar__plus_02_dot_29_bar__plus_00_dot_76_bar__plus_04_dot_09 - object + Plate_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_03_dot_80 - object + Plate_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_63 - object + Potato_bar__plus_01_dot_29_bar__plus_01_dot_07_bar__minus_01_dot_45 - object + Potato_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_04_dot_50 - object + Potato_bar__plus_02_dot_96_bar__plus_01_dot_07_bar__minus_00_dot_54 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_31 - object + SaltShaker_bar__plus_02_dot_40_bar__plus_00_dot_76_bar__plus_04_dot_36 - object + SaltShaker_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 - object + SoapBottle_bar__plus_03_dot_04_bar__plus_01_dot_03_bar__plus_00_dot_07 - object + Spatula_bar__plus_02_dot_43_bar__plus_01_dot_04_bar__minus_01_dot_67 - object + Spatula_bar__plus_02_dot_44_bar__plus_01_dot_04_bar__minus_01_dot_88 - object + Spoon_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_50 - object + Spoon_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + Spoon_bar__plus_02_dot_84_bar__plus_00_dot_77_bar__plus_04_dot_36 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_52 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_02_bar__plus_01_dot_03_bar__plus_01_dot_50 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle 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CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_01_dot_05_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_02_dot_44_bar__plus_01_dot_04_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Egg_bar__plus_02_dot_20_bar__plus_01_dot_07_bar__plus_01_dot_95 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_03_dot_04_bar__plus_01_dot_03_bar__plus_00_dot_07 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_02_dot_02_bar__plus_01_dot_03_bar__plus_01_dot_50 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_02_dot_43_bar__plus_01_dot_04_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__plus_02_dot_79_bar__plus_01_dot_09_bar__minus_01_dot_76 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_01_dot_95_bar__plus_01_dot_02_bar__plus_01_dot_16 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_01_dot_29_bar__plus_01_dot_07_bar__minus_01_dot_45 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_02_dot_44_bar__plus_00_dot_81_bar__plus_03_dot_54 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_02_dot_60_bar__plus_00_dot_77_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_79_bar__plus_00_dot_79_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_93_bar__plus_00_dot_87_bar__plus_03_dot_75 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_02_dot_84_bar__plus_00_dot_77_bar__plus_04_dot_36 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Plate_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_03_dot_80 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Plate_bar__plus_02_dot_29_bar__plus_00_dot_76_bar__plus_04_dot_09 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SoapBottle_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SaltShaker_bar__plus_02_dot_40_bar__plus_00_dot_76_bar__plus_04_dot_36 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_98_bar__plus_00_dot_83_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Glassbottle_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_76_bar__plus_00_dot_82_bar__plus_04_dot_18 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Potato_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle DishSponge_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Egg_bar__plus_02_dot_53_bar__plus_00_dot_81_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Ladle_bar__minus_00_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_70 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_00_dot_37 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_79 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_01_dot_03_bar__plus_02_dot_31 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_36_bar__plus_01_dot_02_bar__plus_01_dot_26 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Glassbottle_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SaltShaker_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Spoon_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_70 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle ButterKnife_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_70 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle Fork_bar__plus_01_dot_64_bar__plus_00_dot_80_bar__plus_01_dot_60 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67) + (inReceptacle Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Plate_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_63 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Cup_bar__plus_02_dot_11_bar__plus_01_dot_86_bar__minus_01_dot_78 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65) + (inReceptacle DishSponge_bar__minus_00_dot_92_bar__plus_00_dot_08_bar__plus_02_dot_84 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + 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loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30) + (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0) + 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loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Cup_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation PepperShaker_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__plus_00_dot_37 loc_bar_2_bar_2_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_0) + (objectAtLocation Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Spatula_bar__plus_02_dot_43_bar__plus_01_dot_04_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_63 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"position": { + "x": 2.00068, + "y": 1.90171957, + "z": -1.84307146 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": -0.920360565, + "y": 1.02380621, + "z": 2.55691051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": -0.448956549, + "y": 0.7966369, + "z": 0.373601556 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": 2.64966154, + "y": 0.800024867, + "z": -0.6997441 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": -0.9682225, + "y": 1.510216, + "z": -0.184050024 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": 2.626, + "y": 0.76306, + "z": 3.97000027 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.451, + "y": 0.7640346, + "z": 3.445 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": -0.4189102, + "y": 1.02593422, + "z": 0.785099745 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": 2.59943748, + "y": 0.7655996, + "z": 4.495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.8038, + "y": 1.07065928, + "z": 0.646000445 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 580556837, + "scene_num": 16 + }, + "task_id": "trial_T20190909_012131_475043", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_38YMOXR4MXQLQT1AF946090MM49W6G", + "high_descs": [ + "Go to the sink just ahead of you to your right. ", + "Pick up the knife that is on the floor, in front of the sink. ", + "Turn to your right and walk towards the wall, out of the kitchen, then turn to your right and go to the dining table in the left corner, ahead of you.", + "Place the knife on the white plate on the table, that is in front of the loaf of bread. ", + "Pick up the plate with the knife on it from the table. ", + "Turn to your right and go back into the main kitchen area, and make another right immediately after entering the kitchen to get to the sink across from you. ", + "Place the plate with the knife still on it, in the right side of the sink. " + ], + "task_desc": "Put a plate containing a knife in the sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AO33H4GL9KZX9_3K772S5NPB276IZ0QS14BUICODHHEH", + "high_descs": [ + "Go forward to the front of the sink on the left. ", + "Pick up the yellow knife on the floor in front of the sink.", + "Turn around and go to the white round table in the right corner. ", + "Place the knife on the white plate on the left of the bread. ", + "Pick up the plate with the knife on it.", + "Turn around and go to the front of the sink on the right.", + "Place the plate with the knife on it inside the sink. " + ], + "task_desc": "Put the plate with the knife on it in the sink. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3OJSZ2ATDVNAHA0V2IMPGNN5XHJ751", + "high_descs": [ + "turn to face sink", + "pick up sharp knife from inside sink", + "walk to face round table", + "put knife on plate on table ", + "pick up plate from table", + "walk to face sink", + "put plate in sink basin" + ], + "task_desc": "put plate and knife into sink", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190906_193516_805691/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190906_193516_805691/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..386702b21d68bf266f2b1e44ec86ecfcd27fdf7f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190906_193516_805691/initial_state.pddl @@ -0,0 +1,915 @@ + +(define (problem plan_trial_T20190906_193516_805691) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64 - object + Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22 - object + Apple_bar__minus_02_dot_78_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_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_73_bar__plus_01_dot_45_bar__plus_02_dot_13 - object + DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_45 - object + DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_88 - object + Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95 - object + Fork_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_53 - object + Fork_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_55 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object + Ladle_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_10 - object + Ladle_bar__minus_01_dot_52_bar__plus_00_dot_17_bar__plus_00_dot_40 - object + Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_37 - 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_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_02_dot_21_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + PepperShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 - object + Plate_bar__minus_02_dot_65_bar__plus_00_dot_13_bar__plus_01_dot_47 - object + Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29 - object + Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + Pot_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_31 - object + SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + SaltShaker_bar__minus_02_dot_40_bar__plus_01_dot_43_bar__plus_00_dot_11 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_32 - object + SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + SoapBottle_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spoon_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54 - 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_73_bar__plus_01_dot_50_bar__plus_01_dot_96 - object + Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle + Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle + CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle + CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle + Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle + Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_15 - location + loc_bar__minus_4_bar_10_bar_2_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_0 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_7_bar_4_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType) + (receptacleType 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) + (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 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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_7_bar_4_bar_3_bar_30) + + (cleanable Mug_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35) + (cleanable Ladle_bar__minus_01_dot_52_bar__plus_00_dot_17_bar__plus_00_dot_40) + (cleanable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64) + (cleanable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_28) + (cleanable Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19) + (cleanable DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_88) + (cleanable Pot_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_31) + (cleanable Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29) + (cleanable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (cleanable Ladle_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_10) + (cleanable Fork_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_55) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable Spoon_bar__minus_01_dot_88_bar__plus_00_dot_82_bar__plus_00_dot_54) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (cleanable Plate_bar__minus_02_dot_65_bar__plus_00_dot_13_bar__plus_01_dot_47) + (cleanable Cup_bar__minus_02_dot_73_bar__plus_01_dot_45_bar__plus_02_dot_13) + (cleanable DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_45) + (cleanable Fork_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_53) + (cleanable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Tomato_bar__minus_02_dot_73_bar__plus_01_dot_50_bar__plus_01_dot_96) + (cleanable Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95) + (cleanable Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30) + (cleanable Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_37) + (cleanable Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56) + + (heatable Mug_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35) + (heatable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64) + (heatable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_28) + (heatable Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22) + (heatable Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29) + (heatable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (heatable Plate_bar__minus_02_dot_65_bar__plus_00_dot_13_bar__plus_01_dot_47) + (heatable Cup_bar__minus_02_dot_73_bar__plus_01_dot_45_bar__plus_02_dot_13) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Tomato_bar__minus_02_dot_73_bar__plus_01_dot_50_bar__plus_01_dot_96) + (heatable Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30) + (coolable Mug_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_35) + (coolable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64) + (coolable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_28) + (coolable Pot_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_31) + (coolable Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29) + (coolable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (coolable Plate_bar__minus_02_dot_65_bar__plus_00_dot_13_bar__plus_01_dot_47) + (coolable Cup_bar__minus_02_dot_73_bar__plus_01_dot_45_bar__plus_02_dot_13) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Tomato_bar__minus_02_dot_73_bar__plus_01_dot_50_bar__plus_01_dot_96) + (coolable Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30) + + + + + + (sliceable Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_28) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22) + (sliceable Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_02_dot_73_bar__plus_01_dot_50_bar__plus_01_dot_96) + (sliceable Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30) + + (inReceptacle DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_88 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Mug_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 Ladle_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_10 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_02_dot_04_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 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 PepperShaker_bar__minus_02_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 Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_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 PepperShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle Fork_bar__minus_02_dot_66_bar__plus_00_dot_69_bar__plus_01_dot_55 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_40_bar__plus_01_dot_43_bar__plus_00_dot_11 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_37 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle SoapBottle_bar__minus_02_dot_17_bar__plus_00_dot_12_bar__plus_00_dot_32 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Ladle_bar__minus_01_dot_52_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle 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 Pot_bar__minus_02_dot_78_bar__plus_01_dot_14_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_73_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 Cup_bar__minus_02_dot_73_bar__plus_01_dot_45_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_00_dot_90_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_88_bar__plus_00_dot_96_bar__plus_01_dot_13 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_02_dot_78_bar__plus_00_dot_99_bar__plus_01_dot_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Apple_bar__minus_00_dot_26_bar__plus_00_dot_13_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Egg_bar__minus_01_dot_48_bar__plus_00_dot_73_bar__plus_00_dot_30 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation 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 DishSponge_bar__minus_00_dot_89_bar__plus_00_dot_71_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_89_bar__plus_00_dot_82_bar__plus_00_dot_46 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_72_bar__plus_01_dot_44_bar__plus_00_dot_29 loc_bar__minus_6_bar_4_bar_3_bar_0) + (objectAtLocation 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(objectAtLocation Fork_bar__minus_02_dot_04_bar__plus_00_dot_82_bar__plus_00_dot_53 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Ladle_bar__minus_02_dot_54_bar__plus_01_dot_89_bar__plus_02_dot_37 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60) + (objectAtLocation Apple_bar__minus_02_dot_78_bar__plus_00_dot_90_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_95 loc_bar__minus_5_bar_5_bar_1_bar_45) + (objectAtLocation Ladle_bar__minus_00_dot_09_bar__plus_00_dot_87_bar__plus_01_dot_10 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_02_dot_78_bar__plus_01_dot_14_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_73_bar__plus_01_dot_50_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_13 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0.114731081 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -2.72453046, + "y": 1.43972981, + "z": 0.288195252 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + }, + { + "objectName": "Spatula_77ce7117", + "position": { + "x": -0.341, + "y": 0.696, + "z": 1.194 + }, + "rotation": { + "x": 0.0, + "y": 45.0000267, + "z": 0.0 + } + }, + { + "objectName": "Knife_298dd93a", + "position": { + "x": -2.66281223, + "y": 0.819159746, + "z": 0.557993948 + }, + "rotation": { + "x": 89.94766, + "y": 300.034546, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -1.48173487, + "y": 0.726797044, + "z": 0.295923918 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.72679234, + "y": 1.44595587, + "z": 2.13375521 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -2.4939487, + "y": 0.812210739, + "z": 0.476511866 + }, + "rotation": { + "x": 0.0, + "y": 50.7348976, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b2f1312c", + "position": { + "x": -1.8365, + "y": 0.7415, + "z": 0.238453716 + }, + "rotation": { + "x": 0.0, + "y": 55.91092, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_407d7c3b", + "position": { + "x": -2.890173, + "y": 0.8185999, + "z": 0.4622569 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_eb848da8", + "position": { + "x": -0.8882545, + "y": 0.710751653, + "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": -1.87690437, + "y": 0.8247293, + "z": 0.5390176 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -1.15182948, + "y": 0.818599939, + "z": 0.352121234 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -0.397978365, + "y": 0.115337931, + "z": 0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2245672187, + "scene_num": 25 + }, + "task_id": "trial_T20190906_193516_805691", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_36W0OB37HZVXWO4YQ7Q0VIZSHNIZH7", + "high_descs": [ + "move to the corner of the kitchen where the microwave is", + "grab the knife off the counter to the left of the microwave", + "walk over to the fridge", + "place the knife inside the pan in the fridge", + "take out the pan from the microwave", + "bring the pan over to the sink", + "place the pan down on the counter to the right of the sink" + ], + "task_desc": "place a pan with a knife in it to the right of the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3RANCT1ZVIY6JC72KSHWSFHFKQOBU0", + "high_descs": [ + "Take a step ahead towards the kitchen counter with the microwave on it.", + "Pick up the large metal knife with a golden handle.", + "Turn right and walk over to the fridge.", + "Open the fridge door and place the knife handle down inside the metal pan that is in the fridge.", + "Remove the pan with the knife in it, then close the fridge door.", + "Turn left and walk over to the kitchen sink.", + "Place the metal pan with the knife in it onto the counter in the corner behind and to the right of the butter knife." + ], + "task_desc": "Place a metal pan with a large metal knife in it onto the kitchen counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3Y54SXRO1O26FY1JKE8HS9N1QZKTU8", + "high_descs": [ + "Look forward at counter with two bottles", + "Pick up knife with yellow handle to left of bottles", + "Go to refrigerator on the right", + "Open refrigerator door, place knife in square copper pot", + "Pick up square copper pot out of refrigerator", + "Turn left, walk to sink", + "Place pot on far, right corner of counter, to right of sink" + ], + "task_desc": "Place knife in pot in refrigerator, place pot on 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-Knife-Pot-CounterTop-25/trial_T20190909_001432_079995/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190909_001432_079995/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4a6617fe546e62ec0bb08626d51c7f1a04b39335 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190909_001432_079995/initial_state.pddl @@ -0,0 +1,927 @@ + +(define (problem plan_trial_T20190909_001432_079995) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_dot_22_bar__plus_02_dot_13 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32 - object + Bowl_bar__minus_02_dot_78_bar__plus_01_dot_43_bar__plus_00_dot_29 - 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_20 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96 - object + DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 - object + DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_66 - object + DishSponge_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67 - object + Egg_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__plus_00_dot_38 - object + Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_50 - object + Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_71 - object + Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object + Ladle_bar__minus_01_dot_58_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_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object + Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_18 - object + Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_02_dot_26_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Plate_bar__minus_01_dot_89_bar__plus_00_dot_13_bar__plus_00_dot_40 - object + Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57 - object + Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13 - object + Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31 - object + Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + SaltShaker_bar__minus_01_dot_37_bar__plus_00_dot_82_bar__plus_00_dot_05 - object + SaltShaker_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_54 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_67 - object + SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19 - object + Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_91 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05 - 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 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loc_bar__minus_4_bar_10_bar_2_bar_30) + + (cleanable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13) + (cleanable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67) + (cleanable Fork_bar__minus_02_dot_02_bar__plus_00_dot_70_bar__plus_00_dot_30) + (cleanable Spatula_bar__minus_00_dot_34_bar__plus_00_dot_70_bar__plus_01_dot_19) + (cleanable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96) + (cleanable ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20) + (cleanable Egg_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__plus_00_dot_38) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_18) + (cleanable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable DishSponge_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_55) + (cleanable Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88) + (cleanable DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99) + (cleanable Apple_bar__minus_02_dot_78_bar__plus_01_dot_22_bar__plus_02_dot_13) + (cleanable Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57) + (cleanable DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_66) + (cleanable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (cleanable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable Ladle_bar__minus_01_dot_58_bar__plus_00_dot_17_bar__plus_00_dot_40) + (cleanable Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_50) + (cleanable Bowl_bar__minus_02_dot_78_bar__plus_01_dot_43_bar__plus_00_dot_29) + (cleanable Plate_bar__minus_01_dot_89_bar__plus_00_dot_13_bar__plus_00_dot_40) + (cleanable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32) + (cleanable Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_91) + (cleanable Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_71) + (cleanable Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06) + + (heatable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13) + (heatable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67) + (heatable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96) + (heatable Egg_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__plus_00_dot_38) + (heatable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_18) + (heatable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39) + (heatable Apple_bar__minus_02_dot_78_bar__plus_01_dot_22_bar__plus_02_dot_13) + (heatable Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57) + (heatable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (heatable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (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 Plate_bar__minus_01_dot_89_bar__plus_00_dot_13_bar__plus_00_dot_40) + (heatable Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06) + (coolable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13) + (coolable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67) + (coolable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96) + (coolable Egg_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__plus_00_dot_38) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_18) + (coolable Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39) + (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (coolable Apple_bar__minus_02_dot_78_bar__plus_01_dot_22_bar__plus_02_dot_13) + (coolable Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57) + (coolable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (coolable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (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 Bowl_bar__minus_02_dot_78_bar__plus_01_dot_43_bar__plus_00_dot_29) + (coolable Plate_bar__minus_01_dot_89_bar__plus_00_dot_13_bar__plus_00_dot_40) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32) + (coolable Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06) + + + + + + (sliceable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13) + (sliceable Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67) + (sliceable Egg_bar__minus_01_dot_80_bar__plus_00_dot_72_bar__plus_00_dot_38) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Apple_bar__minus_02_dot_78_bar__plus_01_dot_22_bar__plus_02_dot_13) + (sliceable Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57) + (sliceable Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_05) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06) + + (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_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 SoapBottle_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_00_dot_66 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_58_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 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 ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_01_dot_37_bar__plus_00_dot_85_bar__plus_00_dot_50 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_02_dot_26_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 DishSponge_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_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 Egg_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_00_dot_91 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 Bowl_bar__minus_02_dot_78_bar__plus_01_dot_43_bar__plus_00_dot_29 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_32 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle DishSponge_bar__minus_02_dot_53_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_89_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 Ladle_bar__minus_01_dot_58_bar__plus_00_dot_17_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Potato_bar__minus_02_dot_78_bar__plus_00_dot_86_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle 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 Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Apple_bar__minus_02_dot_78_bar__plus_01_dot_22_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Mug_bar__minus_02_dot_84_bar__plus_00_dot_92_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_00_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Potato_bar__minus_00_dot_26_bar__plus_00_dot_10_bar__plus_02_dot_57 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle 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_80_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) + (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 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{ + "objectName": "SoapBottle_3a4a4d0d", + "position": { + "x": -0.362648815, + "y": 0.05428255, + "z": 2.67462254 + }, + "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": -2.837207, + "y": 1.49514139, + "z": 2.04581 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Potato_a3c14b3a", + "position": { + "x": -0.262604654, + "y": 0.09528482, + "z": 2.57297325 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_69e12ad1", + "position": { + "x": -1.37479818, + "y": 0.8185999, + "z": 0.046149075 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_29dab58d", + "position": { + "x": -1.8856113, + "y": 0.130002618, + "z": 0.401696056 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "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": -1.37479818, + "y": 0.849218249, + "z": 0.4982509 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_68224885", + "position": { + "x": -0.2292566, + "y": 0.08077991, + "z": 2.67462254 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_61785f6c", + "position": { + "x": -2.83720636, + "y": 0.8251886, + "z": 1.95786309 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d1baac51", + "position": { + "x": -0.817085445, + "y": 0.8135288, + "z": 0.203775376 + }, + "rotation": { + "x": 359.386932, + "y": -0.002849856, + "z": 359.929749 + } + }, + { + "objectName": 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1.17865086 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -2.78456974, + "y": 1.43164122, + "z": 0.2932866 + }, + "rotation": { + "x": 0.0, + "y": 44.9999962, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4223184380, + "scene_num": 25 + }, + "task_id": "trial_T20190909_001432_079995", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1VAL7L9L79IN0_3KIBXJ1WD8BCZARZUJIGSC8GPW0KO3", + "high_descs": [ + "Turn around and walk to the microwave on the black counter on your left.", + "Grab the knife on the black counter.", + "Turn left, walk to the wall, make a right, and walk to the green trash bin.", + "Place the knife in the deep, copper pan that's on the stove.", + "Grab the deep, copper pan on the stove.", + "Turn around, walk to the fridge, turn left, and walk to the sink.", + "Place the copper pan on the corner of the black counter top to the right of the sink." + ], + "task_desc": "Put the deep, copper pan with a knife in it in the corner of the counter top.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3PWWM24LHVFEX20TYWNGVUWMTSD281", + "high_descs": [ + "Turn right to go around the stool. Head towards the sink. Turn right and face the microwave.", + "Pick up the knife on the counter.", + "Turn right and head towards the door. Turn right and face the stove.", + "Put the knife in the pan on the left front of the stove.", + "Grab the pan that is on the left front of the stove.", + "Turn right and go to the sink.", + "Put the pan in to the sink." + ], + "task_desc": "Grab a pan on the stove to put in the sink.", + "votes": [ + 0, + 1, + 1 + ] + }, + { + "assignment_id": "AITP2LUW8GPB_3UN61F00HZ6CE4YCFOVEKIU33U9R5K", + "high_descs": [ + "Turn right, walk towards fridge, turn left.", + "Walk towards sink, turn right.", + "Grab sink near dishwasher.", + "Pick up knife, turn right, then turn right near trash can.", + "Pick up trash can, turn around, walk towards fridge.", + "Turn left at fridge, walk towards sink.", + "Place trash can into sink." + ], + "task_desc": "Pick up knife, pick up trash can, place into sink.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190909_040738_543042/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190909_040738_543042/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2054c07c80af2cc7d66a7ce741fd4a2ab0b4cfa1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Knife-Pot-CounterTop-25/trial_T20190909_040738_543042/initial_state.pddl @@ -0,0 +1,926 @@ + +(define (problem plan_trial_T20190909_040738_543042) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_78_bar__plus_00_dot_90_bar__plus_02_dot_49 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_00_dot_17_bar__plus_00_dot_82_bar__plus_01_dot_21 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_21 - object + DishSponge_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 - object + Egg_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_03 - object + Egg_bar__minus_02_dot_73_bar__plus_01_dot_17_bar__plus_02_dot_31 - object + 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_01_dot_22 - object + Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_52 - object + Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_56 - object + 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Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_01_dot_68 - object + SaltShaker_bar__minus_02_dot_86_bar__plus_01_dot_43_bar__plus_01_dot_48 - object + SaltShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_05 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 - object + SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55 - object + Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_46 - object + Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_95 - object + Spoon_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 - 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 + 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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 PepperShaker_bar__minus_02_dot_83_bar__plus_01_dot_43_bar__plus_00_dot_61 loc_bar__minus_8_bar_4_bar_3_bar__minus_15) + (objectAtLocation Egg_bar__minus_02_dot_73_bar__plus_01_dot_17_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_56 loc_bar__minus_8_bar_4_bar_2_bar_60) + (objectAtLocation Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_46 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_02_dot_78_bar__plus_01_dot_15_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_01_dot_05 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (objectAtLocation Potato_bar__minus_02_dot_88_bar__plus_00_dot_96_bar__plus_01_dot_23 loc_bar__minus_8_bar_5_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_02_dot_73_bar__plus_00_dot_87_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_01_dot_22 loc_bar__minus_5_bar_4_bar_1_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 Tomato_bar__minus_02_dot_67_bar__plus_00_dot_87_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_67_bar__plus_01_dot_18_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_00_dot_13_bar__plus_02_dot_61 loc_bar__minus_4_bar_10_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30) + (objectAtLocation Fork_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 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 Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_02_dot_65_bar__plus_00_dot_12_bar__plus_01_dot_55 loc_bar__minus_6_bar_4_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_00_dot_52_bar__plus_00_dot_83_bar__plus_01_dot_68 loc_bar__minus_4_bar_6_bar_1_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_01_dot_50_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Potato_bar__minus_02_dot_78_bar__plus_00_dot_96_bar__plus_01_dot_13 loc_bar__minus_8_bar_5_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_02_dot_86_bar__plus_01_dot_43_bar__plus_01_dot_48 loc_bar__minus_8_bar_5_bar_3_bar__minus_15) + (objectAtLocation Plate_bar__minus_01_dot_58_bar__plus_00_dot_13_bar__plus_00_dot_44 loc_bar__minus_4_bar_6_bar_2_bar_60) + (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15) + (objectAtLocation Spatula_bar__minus_02_dot_66_bar__plus_00_dot_84_bar__plus_00_dot_95 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_52 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_03 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_01_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_17_bar__plus_00_dot_82_bar__plus_01_dot_21 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30) + (objectAtLocation DishSponge_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_53_bar__plus_00_dot_12_bar__plus_01_dot_51 loc_bar__minus_8_bar_6_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 loc_bar__minus_4_bar_4_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r CounterTopType) + (exists (?o - object) + (and + (objectType ?o KnifeType) + (exists (?mo - object) + (and + (objectType ?mo PotType) + (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-Knife-Pot-CounterTop-25/trial_T20190909_040738_543042/traj_data.json 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+ } + }, + { + "objectName": "Bread_db4f73f8", + "position": { + "x": -0.979999542, + "y": 0.8554753, + "z": 0.249999955 + }, + "rotation": { + "x": -5.270255e-06, + "y": 29.9999123, + "z": -4.99874841e-06 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -2.724535, + "y": 0.8247294, + "z": 0.20387885 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_57da2f86", + "position": { + "x": -2.53052735, + "y": 0.116529375, + "z": 1.51088572 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -0.397978365, + "y": 0.115337931, + "z": 0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1272308953, + "scene_num": 25 + }, + "task_id": "trial_T20190909_040738_543042", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_354P56DE9NK32NC8I6AG8CDVG9QS75", + "high_descs": [ + "turn to the left and face the kitchen sink", + "grab a knife from the edge of the kitchen sink", + "turn around and walk over to the stove at the other end of the room", + "place the knife inside a pan on the front right burner", + "pick up the pan with the knife in it", + "turn around and walk over to the sink on the left", + "place the pan on the countertop to the right of the sink" + ], + "task_desc": "place a pan with a knife in it on the kitchen countertop", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3B1NLC6UG2DPIO7HJSAGJKLDST5GPL", + "high_descs": [ + "Turn left and walk to the sink.", + "Pick up the knife on the counter.", + "Turn left and veer right to the stove.", + "Put the knife in the pan on the front right burner.", + "Pick up the pan.", + "Turn around and walk back to the sink.", + "Place the items on the counter to the right of the sink." + ], + "task_desc": "Place a pot with a knife on it on a counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3B837J3LDRDDK6WNRK8MDT4VHLJSR3", + "high_descs": [ + "Turn left and walk up to the kitchen sink.", + "Pick up the knife that is resting on the kitchen counter in front of the sink.", + "Turn around and begin walking across the room, then hang a left and walk up to the stove.", + "Place the knife in a deep metal pan that is on the stove.", + "Pick up the metal pan with the knife in it.", + "Turn around and start walking over to the microwave, then hang a left and walk up to the sink.", + "Place the deep metal pan with the knife in it on the counter to the right of the sink." + ], + "task_desc": "Put a metal pan with a knife 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-Pen-Bowl-SideTable-330/trial_T20190908_140214_441167/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190908_140214_441167/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fed1cb44b3aad342ec8d844c6e2a4f734dd54915 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190908_140214_441167/initial_state.pddl @@ -0,0 +1,735 @@ + +(define (problem plan_trial_T20190908_140214_441167) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - 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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Pen_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__plus_00_dot_44 - object + Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Pen_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__plus_00_dot_26 - object + Pen_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_01_dot_85 - 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_58_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 - object + Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 - object + Vase_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__plus_00_dot_06 - 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_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_4_bar__minus_7_bar_3_bar_30 - 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_4_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 GarbageCanType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 DresserType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 DrawerType) + (receptacleType SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 SideTableType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 DrawerType) + (receptacleType Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 BedType) + (receptacleType ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 ArmChairType) + (receptacleType SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 SideTableType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 DrawerType) + (receptacleType Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 ShelfType) + (receptacleType Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 DrawerType) + (receptacleType Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 DresserType) + (objectType Vase_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__plus_00_dot_06 VaseType) + (objectType Pencil_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_42 PencilType) + (objectType AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 AlarmClockType) + (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 Pen_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_01_dot_85 PenType) + (objectType Pen_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__plus_00_dot_26 PenType) + (objectType KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_02_dot_19 KeyChainType) + (objectType AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_14 AlarmClockType) + (objectType Vase_bar__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 VaseType) + (objectType Pillow_bar__plus_02_dot_41_bar__plus_00_dot_51_bar__plus_01_dot_84 PillowType) + (objectType AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_74 AlarmClockType) + (objectType Statue_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 StatueType) + (objectType CD_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_01_dot_85 CDType) + (objectType KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_43_bar__plus_01_dot_59 KeyChainType) + (objectType Book_bar__minus_01_dot_50_bar__plus_00_dot_22_bar__minus_00_dot_63 BookType) + (objectType Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_19 LaptopType) + (objectType CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_01_dot_96 CDType) + (objectType Book_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__plus_00_dot_06 BookType) + (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 CreditCard_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__plus_00_dot_06 CreditCardType) + (objectType Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 BootsType) + (objectType Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 PenType) + (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 Pencil_bar__minus_01_dot_55_bar__plus_00_dot_42_bar__minus_00_dot_35 PencilType) + (objectType CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__minus_00_dot_34 CellPhoneType) + (objectType Pen_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__plus_00_dot_44 PenType) + (objectType Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 StatueType) + (objectType Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 LaptopType) + (objectType Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_14 PencilType) + (objectType Book_bar__minus_01_dot_72_bar__plus_00_dot_41_bar__minus_00_dot_44 BookType) + (objectType KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__minus_00_dot_35 KeyChainType) + (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 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Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54) + + (atLocation agent1 loc_bar_4_bar_6_bar_3_bar_30) + + (cleanable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + + + (coolable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + + + + + + + + (inReceptacle KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__minus_00_dot_35 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54) + (inReceptacle Book_bar__minus_01_dot_50_bar__plus_00_dot_22_bar__minus_00_dot_63 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54) + (inReceptacle Pencil_bar__minus_01_dot_55_bar__plus_00_dot_42_bar__minus_00_dot_35 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54) + (inReceptacle Book_bar__minus_01_dot_72_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) + (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) + (inReceptacle Pen_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26) + (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 Vase_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__plus_00_dot_06 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_14 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle 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 Book_bar__minus_01_dot_51_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 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 AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_14 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle CreditCard_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_66_bar__plus_00_dot_97_bar__minus_00_dot_74 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Statue_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26) + (inReceptacle Laptop_bar__plus_01_dot_26_bar__plus_00_dot_77_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pen_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_01_dot_85 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle 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) + (inReceptacle Pencil_bar__minus_01_dot_67_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) + + + (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__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Laptop_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_74 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_9_bar_3_bar_30) + (objectAtLocation Book_bar__minus_01_dot_72_bar__plus_00_dot_41_bar__minus_00_dot_44 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (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 Book_bar__minus_01_dot_51_bar__plus_00_dot_97_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__minus_00_dot_35 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation Pencil_bar__minus_01_dot_55_bar__plus_00_dot_42_bar__minus_00_dot_35 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_49_bar__plus_00_dot_04_bar__plus_00_dot_44 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_64_bar__plus_01_dot_15_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Book_bar__minus_01_dot_50_bar__plus_00_dot_22_bar__minus_00_dot_63 loc_bar__minus_1_bar_0_bar_3_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_43_bar__plus_01_dot_59 loc_bar_9_bar_5_bar_0_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_66_bar__plus_00_dot_97_bar__minus_00_dot_14 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__minus_01_dot_66_bar__plus_01_dot_63_bar__minus_01_dot_79 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_26_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_80_bar__plus_00_dot_98_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_80_bar__plus_00_dot_98_bar__minus_00_dot_14 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CreditCard_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 Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Pen_bar__minus_01_dot_61_bar__plus_00_dot_61_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__minus_01_dot_73_bar__plus_01_dot_15_bar__minus_01_dot_85 loc_bar__minus_4_bar__minus_7_bar_3_bar_30) + (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_68_bar__plus_01_dot_14_bar__minus_02_dot_30 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Statue_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation 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) + (and + (receptacleType ?r SideTableType) + (exists (?o - object) + (and + (objectType ?o PenType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190908_140214_441167/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190908_140214_441167/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ea862ad35471623ea54900c1705577c1efbca310 --- /dev/null +++ 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0.652, + "y": 0.794, + "z": -1.531 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_305dccf0", + "position": { + "x": -1.66250467, + "y": 1.626018, + "z": -1.79132915 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a777a0ae", + "position": { + "x": 0.296522975, + "y": 0.773138165, + "z": -0.9902473 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3dd4c039", + "position": { + "x": -1.80463719, + "y": 0.9759595, + "z": 0.062176466 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c0c69a42", + "position": { + "x": -1.66817355, + "y": 1.6432997, + "z": -2.41545 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a6306ccf", + "position": { + "x": -1.65724361, + "y": 0.972299635, + "z": 0.0621768236 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Boots_6438362f", + "position": { + "x": -1.84297776, + "y": 0.000668019056, + "z": -1.077008 + }, + "rotation": { + "x": 0.0903331637, + "y": 135.194382, + "z": 0.00278281514 + } + }, + { + "objectName": "Pen_cfe375f5", + "position": { + "x": -1.50984848, + "y": 0.9764528, + "z": -0.540981352 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7035669b", + "position": { + "x": -1.5835458, + "y": 0.9725137, + "z": -0.339928746 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "CD_e8ffdc91", + "position": { + "x": -1.76215839, + "y": 1.63742185, + "z": -1.95940614 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "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": 1981770604, + "scene_num": 330 + }, + "task_id": "trial_T20190908_140214_441167", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_326O153BMLPQU2UY4WIEK93EWH0ED9", + "high_descs": [ + "Walk towards the wall, then hang a left and walk across the room, hang a right and walk up to the black dresser.", + "Pick up the pen off of the dresser.", + "Turn left and walk towards the window, then turn right to face the glass bowl on the dresser.", + "Put the pen in the glass bowl on the dresser.", + "Pick up the glass bowl with the pen in it.", + "Walk across the room and around the bed to the small black end table in between the bed and wall.", + "Put the glass bowl with the pen in it on the small black end table to the right of the lamp." + ], + "task_desc": "Put a glass bowl with a pen in it on an end table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_39ASUFLU60Y4S8ZFVWJQEG66CZ8XEQ", + "high_descs": [ + "Go to the shelf on the left", + "Pick up the pen", + "Go to the left", + "Put the pen in the bowl", + "Pick up the bowl", + "Go to the lamp table next to the bed", + "Put the bowl down on the table" + ], + "task_desc": "Move a bowl with a pen next to the bed", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3NVC2EB65TQQIF9SB8OWE39INGZY3T", + "high_descs": [ + "Turn left walk forward then turn left again, walk toward the end of the cabinet", + "Pick up the pen on the cabinet", + "Turn left move few step then face the cabinet ", + "Put the pen in the bowl", + "Pick up the bowl with pen", + "Turn right walk forward then head to the side table of the bed ", + "Put the bowl with pen on the side table" + ], + "task_desc": "Put the bowl with pen on the side table of the bed", + "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-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..37ba760617df4c1491bb0266e7fb27c1d1943962 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/initial_state.pddl @@ -0,0 +1,711 @@ + +(define (problem plan_trial_T20190911_145751_628156) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_70_bar__plus_01_dot_15_bar__minus_02_dot_19 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_01_dot_28 - object + Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 - object + Bowl_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_14 - object + CD_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 - object + CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_58 - object + CD_bar__minus_01_dot_55_bar__plus_00_dot_41_bar__minus_00_dot_81 - object + CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_80_bar__minus_00_dot_54 - object + CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_22_bar__minus_00_dot_54 - object + CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__plus_00_dot_06 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_43_bar__plus_01_dot_59 - object + KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__minus_00_dot_14 - object + Lamp_bar__plus_01_dot_40_bar__plus_00_dot_67_bar__plus_02_dot_21 - object + Lamp_bar__plus_02_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_71 - object + Laptop_bar__plus_00_dot_54_bar__plus_00_dot_77_bar__minus_00_dot_70 - object + Laptop_bar__plus_01_dot_50_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_67_bar__plus_01_dot_15_bar__minus_01_dot_96 - object + Pencil_bar__minus_01_dot_78_bar__plus_00_dot_04_bar__minus_00_dot_26 - object + Pen_bar__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_34 - object + Pen_bar__minus_01_dot_61_bar__plus_01_dot_15_bar__minus_02_dot_42 - object + Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 - object + Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__plus_00_dot_19 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 - object + Pillow_bar__plus_01_dot_74_bar__plus_00_dot_84_bar__minus_00_dot_99 - object + Statue_bar__minus_01_dot_76_bar__plus_00_dot_97_bar__minus_00_dot_76 - object + Vase_bar__minus_01_dot_58_bar__plus_00_dot_98_bar__minus_00_dot_54 - object + Vase_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 - object + Window_bar__minus_01_dot_10_bar__plus_01_dot_57_bar__minus_03_dot_23 - object + ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 - receptacle + Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 - receptacle + Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 - receptacle + Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 - receptacle + Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 - receptacle + Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 - receptacle + Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 - receptacle + GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 - receptacle + Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 - receptacle + SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 - receptacle + SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 - receptacle + loc_bar__minus_1_bar_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_2_bar_1_bar_3_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_1_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar_9_bar_3_bar_0_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar__minus_3_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar_60 - location + loc_bar_9_bar__minus_3_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_3_bar_30 - location + loc_bar__minus_1_bar_7_bar_0_bar_45 - location + loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_3_bar_45 - location + loc_bar_8_bar_5_bar_0_bar_60 - location + loc_bar__minus_1_bar_0_bar_3_bar_45 - location + loc_bar__minus_3_bar__minus_3_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_0 - location + loc_bar_10_bar__minus_4_bar_2_bar_60 - location + loc_bar_10_bar_5_bar_0_bar_60 - location + loc_bar_2_bar_7_bar_1_bar_45 - location + loc_bar_4_bar_3_bar_2_bar_45 - location + loc_bar_9_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_10_bar__minus_3_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 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Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_01_dot_74_bar__plus_00_dot_84_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__plus_00_dot_19 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pencil_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) + (inReceptacle Pen_bar__minus_01_dot_61_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 AlarmClock_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_19 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_02_dot_59_bar__plus_00_dot_43_bar__plus_01_dot_58 loc_bar_10_bar_5_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_50_bar__plus_00_dot_22_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (objectAtLocation Pen_bar__minus_01_dot_61_bar__plus_01_dot_15_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Pencil_bar__minus_01_dot_78_bar__plus_00_dot_04_bar__minus_00_dot_26 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_54_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_30_bar__plus_00_dot_84_bar__plus_00_dot_19 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_02_dot_31_bar__plus_00_dot_43_bar__plus_01_dot_59 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation CD_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation Book_bar__plus_00_dot_30_bar__plus_00_dot_77_bar__minus_01_dot_28 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_58_bar__plus_00_dot_97_bar__minus_00_dot_14 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation AlarmClock_bar__minus_01_dot_70_bar__plus_01_dot_15_bar__minus_02_dot_19 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Pillow_bar__plus_01_dot_74_bar__plus_00_dot_84_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_65_bar__plus_00_dot_79_bar__minus_01_dot_53 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__plus_00_dot_26 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_50_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_58_bar__plus_00_dot_98_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation CreditCard_bar__minus_01_dot_73_bar__plus_00_dot_97_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_2_bar_3_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__minus_01_dot_51_bar__plus_00_dot_98_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 loc_bar__minus_1_bar_7_bar_0_bar_45) + (objectAtLocation Mirror_bar__minus_01_dot_95_bar__plus_01_dot_74_bar__minus_00_dot_21 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_49_bar__plus_00_dot_80_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (objectAtLocation CD_bar__minus_01_dot_55_bar__plus_00_dot_41_bar__minus_00_dot_81 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (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_80_bar__plus_00_dot_97_bar__minus_00_dot_14 loc_bar__minus_4_bar__minus_2_bar_3_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 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) + (and + (receptacleType ?r SideTableType) + (exists (?o - object) + (and + (objectType ?o PenType) + (exists (?mo - object) + (and + (objectType ?mo BowlType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..456245572c023540789b8c0f9dc515c5c396ff7a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Bowl-SideTable-330/trial_T20190911_145751_628156/traj_data.json @@ -0,0 +1,4207 @@ +{ + "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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-0.339928567 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Pen_cfe375f5", + "position": { + "x": -1.66817153, + "y": 1.643468, + "z": -2.18742871 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c0c69a42", + "position": { + "x": -1.668169, + "y": 1.15183914, + "z": -1.95940626 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_ac032140", + "position": { + "x": -1.5835464, + "y": 0.972387, + "z": -0.138875842 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Pillow_64d86fa7", + "position": { + "x": 1.74347711, + "y": 0.836844742, + "z": -0.9902473 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a777a0ae", + "position": { + "x": 1.502318, + "y": 0.773138165, + "z": 0.188206315 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Book_88b330d0", + "position": { + "x": 0.296522975, + "y": 0.774509549, + "z": -1.28486085 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_ac032140", + "position": { + "x": 2.314337, + "y": 0.434587, + "z": 1.587966 + }, + "rotation": { + "x": 0.0, + "y": 90.81287, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_3a2d6b92", + "position": { + "x": -1.699501, + "y": 1.14617419, + "z": -2.187429 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "Pillow_64d86fa7", + "position": { + "x": 0.296522975, + "y": 0.836844742, + "z": 0.188206315 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_f78b5f5c", + "position": { + "x": 0.652, + "y": 0.794, + "z": -1.531 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_305dccf0", + "position": { + "x": -1.80463767, + "y": 0.973002553, + "z": 0.2632293 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Laptop_a777a0ae", + "position": { + "x": 0.537682, + "y": 0.773138165, + "z": -0.695633948 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3dd4c039", + "position": { + "x": -1.58354533, + "y": 0.9759595, + "z": -0.540981531 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Pencil_c0c69a42", + "position": { + "x": -1.77699029, + "y": 0.04207653, + "z": -0.2558184 + }, + "rotation": { + "x": 0.0, + "y": 89.99987, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_a6306ccf", + "position": { + "x": -1.73094034, + "y": 0.970796, + "z": 0.0621766448 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "Boots_6438362f", + "position": { + "x": -1.84297776, + "y": 0.000668019056, + "z": -1.077008 + }, + "rotation": { + "x": 0.0903331637, + "y": 135.194382, + "z": 0.00278281514 + } + }, + { + "objectName": "Pen_cfe375f5", + "position": { + "x": -1.6055131, + "y": 1.15200746, + "z": -2.41545248 + }, + "rotation": { + "x": 0.0, + "y": 90.0005, + "z": 0.0 + } + }, + { + "objectName": "CellPhone_7035669b", + "position": { + "x": -1.49607766, + "y": 0.217145637, + "z": -0.536419332 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "z": 0.0 + } + }, + { + "objectName": "CD_e8ffdc91", + "position": { + "x": 2.59267068, + "y": 0.4326067, + "z": 1.58401692 + }, + "rotation": { + "x": 0.0, + "y": 90.81287, + "z": 0.0 + } + }, + { + "objectName": "Bowl_d59970df", + "position": { + "x": -1.80463672, + "y": 0.970915258, + "z": -0.138876379 + }, + "rotation": { + "x": 0.0, + "y": -0.000140018863, + "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": 1986061832, + "scene_num": 330 + }, + "task_id": "trial_T20190911_145751_628156", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_30ZX6P7VFBMB28IAL89OL6P24XPJ26", + "high_descs": [ + "Turn and go to the dresser.", + "Pick up a pen on the dresser. ", + "Turn and go to the dresser.", + "Put the pen on the plate on the dresser.", + "Pick up the plate on the dresser. ", + "Go to the stand by the armchair.", + "Put the plate on the stand. " + ], + "task_desc": "Move a plate from the dresser to the stand. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3A9AA95ATZDZNG4VY4G6G9EQX62P5T", + "high_descs": [ + "Turn left and walk over to the dresser on the far side of the room.", + "Pick up the pen off of the dresser.", + "Look up towards the mirror.", + "Put the pen in the glass bowl on the dresser.", + "Pick up the glass bowl with the pen in it off of the dresser.", + "Turn right and walk towards the door, then hang a right and walk over to the small end table to the left of the chair in the corner of the room.", + "Put the glass bowl on the end table to the right of the lamp." + ], + "task_desc": "Put a glass bowl with a pen in it on an end table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3F6HPJW4JGRX8SI9S7S3AWJA6TD2WZ", + "high_descs": [ + "Turn to the left, and then left again to go past the bed and to the dresser.", + "Pick up the pen from the front of the dresser.", + "Hold the pen and look up to the mirror.", + "Place the pen in the bowl to the back of the dresser.", + "Pick up the bowl from the back of the dresser.", + "Carry the bowl and turn to the right and then right again past the bed. Find the small table on the left side. ", + "Place the bowl and pen on the small black table, to the right side." + ], + "task_desc": "Move a bowl and pen to a small table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213231_881031/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213231_881031/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..40b4ea2a4e480092057b3e0a4b5ed598bff4be27 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213231_881031/initial_state.pddl @@ -0,0 +1,534 @@ + +(define (problem plan_trial_T20190907_213231_881031) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_17 - object + Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_17_bar__plus_00_dot_32_bar__plus_01_dot_60 - object + CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_55_bar__plus_01_dot_67 - object + CreditCard_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_57 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_73 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_79 - object + Mug_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_66 - object + Pencil_bar__plus_00_dot_26_bar__plus_00_dot_70_bar__minus_01_dot_57 - object + Pencil_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + Pencil_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 - object + Pen_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 - object + Pillow_bar__plus_01_dot_21_bar__plus_00_dot_85_bar__minus_00_dot_71 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_5_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType Book_bar__plus_01_dot_21_bar__plus_00_dot_78_bar__plus_00_dot_11 BookType) + (objectType Book_bar__plus_00_dot_83_bar__plus_00_dot_78_bar__minus_00_dot_17 BookType) + (objectType Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_07 PenType) + (objectType Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_79 MugType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType Pencil_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_64 PencilType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Pillow_bar__plus_00_dot_87_bar__plus_00_dot_82_bar__minus_01_dot_51 PillowType) + (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType) + (objectType 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loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_14_bar__plus_00_dot_55_bar__plus_01_dot_67 loc_bar_1_bar_6_bar_1_bar_45) + (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation 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Mug_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_79 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PenType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213231_881031/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213231_881031/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b22bc5aab936814d1f8fc9f8c52232e6da47c869 --- /dev/null +++ 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"object_toggles": [], + "random_seed": 2368745366, + "scene_num": 305 + }, + "task_id": "trial_T20190907_213231_881031", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1ZE52NWZPN85P_3HWRJOOET8JOB2RI5EOMEM5C3W7SE5", + "high_descs": [ + "Turn around and then walk to your right until you face the right side of the desk", + "Pick up a pencil from off of the desk", + "Turn around and then head left to face the chest of drawers", + "Put the pencil in the mug that is sitting on the desk", + "Pick up the mug that has a pencil in it", + "Turn around, and then walk right to face the left side of the desk", + "Place the mug with the pencil in it on the shelf above the laptop" + ], + "task_desc": "Grab and place a mug with the pencil in it on a shelf", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F51C49T9A34D_3L4D84MIL297W9ZU8LNE7OB2ZS9HJF", + "high_descs": [ + "turn to the left twice and go forward to the corner and turn to the right and go to the desk", + "pick up the black pen from the desk", + "turn to the right twice and take few steps forward and turn to the left and go to the night stand", + "put the pen in the closest mug", + "pick up the mug with the pen in it", + "turn to the left twice and go forward to the door and turn to the right and go to the desk ", + "put the mug with the pen in it on the top shelf of the desk" + ], + "task_desc": "Place a mug with a pen in it on the top shelf of a desk", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3Z4AIRP3C9UXNIJ5N0ZU6A3AT1E1XA", + "high_descs": [ + "turn left and head for the table ", + "pick up the pen from the table", + "turn right and head for the table at the right", + "drop the pen in the mug on the table", + "pick up the mug from the table", + "turn around and locate the table ", + "drop the mug on the table" + ], + "task_desc": "drop a mug on the table with a pen in it", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213329_139933/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213329_139933/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..871a060e1cdaf96feaedf12c84c314254156b9b9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213329_139933/initial_state.pddl @@ -0,0 +1,567 @@ + +(define (problem plan_trial_T20190907_213329_139933) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 - object + AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 - object + Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_73 - object + CD_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_75 - object + CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_66 - object + Laptop_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_44 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56 - object + Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Pencil_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_66 - object + Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_23 - object + Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + Pen_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 - object + Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_40 - object + Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 - object + Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_84 - object + Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar_2_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 AlarmClockType) + (objectType CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 CreditCardType) + (objectType CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 CellPhoneType) + (objectType KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_66 KeyChainType) + (objectType Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_09 PencilType) + (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 BookType) + (objectType Pen_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 PenType) + (objectType Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 MugType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 PillowType) + (objectType Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_23 PencilType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 BowlType) + (objectType CD_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_73 CDType) + (objectType CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 CreditCardType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType) + (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType) + (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType Laptop_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_44 LaptopType) + (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 AlarmClockType) + (objectType LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 LightSwitchType) + (objectType Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_40 PenType) + (objectType Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 MugType) + (objectType Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 PenType) + (objectType CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_62 CellPhoneType) + (objectType Pencil_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_66 PencilType) + (objectType CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_23 CreditCardType) + (objectType AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 AlarmClockType) + (objectType DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 DeskLampType) + (objectType Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_84 PenType) + (objectType Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56 MugType) + (objectType CD_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_75 CDType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType BowlType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType BoxType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType BasketBallType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DeskType PenType) + (canContain DeskType BookType) + (canContain DeskType BowlType) + (canContain DeskType CDType) + (canContain DeskType MugType) + (canContain DeskType BoxType) + (canContain DeskType CellPhoneType) + (canContain DeskType KeyChainType) + (canContain DeskType CreditCardType) + (canContain DeskType BasketBallType) + (canContain DeskType LaptopType) + (canContain DeskType PencilType) + (canContain DeskType AlarmClockType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType CDType) + (canContain ShelfType MugType) + (canContain ShelfType BoxType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType AlarmClockType) + (canContain BedType BasketBallType) + (canContain BedType BaseballBatType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain GarbageCanType PenType) + (canContain GarbageCanType CDType) + (canContain GarbageCanType PencilType) + (pickupable AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40) + (pickupable CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90) + (pickupable KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_66) + (pickupable Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_09) + (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81) + (pickupable Pen_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67) + (pickupable Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (pickupable Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99) + (pickupable Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_23) + (pickupable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (pickupable CD_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_73) + (pickupable CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62) + (pickupable 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(pickupable Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_84) + (pickupable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56) + (pickupable CD_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_75) + (isReceptacleObject Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (isReceptacleObject Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (isReceptacleObject Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44) + (isReceptacleObject Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (isReceptacleObject Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74) + (openable Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + + (atLocation agent1 loc_bar_2_bar_6_bar_3_bar_30) + + (cleanable Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (cleanable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (cleanable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (cleanable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56) + + (heatable Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (heatable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (heatable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56) + (coolable Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07) + (coolable Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89) + (coolable Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56) + (coolable Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56) + + + (toggleable DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67) + + + + + (inReceptacle 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Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_23 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56 Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30) + (inReceptacle KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_66 Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63) + (inReceptacle Pen_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74) + (inReceptacle Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Laptop_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_44 Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72) + (inReceptacle Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_62 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_84 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle CD_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_75 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72) + (inReceptacle Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_09 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + (inReceptacle AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38) + + + (receptacleAtLocation Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 loc_bar_0_bar__minus_2_bar_1_bar_60) + (receptacleAtLocation Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 loc_bar_1_bar_6_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 loc_bar_0_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 loc_bar_0_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 loc_bar_2_bar_3_bar_1_bar_60) + (receptacleAtLocation LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_40 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_73 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_00_dot_16_bar__plus_00_dot_39_bar__minus_01_dot_66 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_00_dot_90 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_42_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pencil_bar__plus_01_dot_36_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_84 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_71 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_01_dot_22_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 loc_bar_1_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 loc_bar_2_bar_4_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 loc_bar__minus_4_bar_6_bar_0_bar_30) + (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_72_bar__plus_01_dot_81 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 loc_bar_1_bar__minus_5_bar_1_bar__minus_15) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar_0) + (objectAtLocation Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 loc_bar_1_bar__minus_1_bar_1_bar__minus_15) + (objectAtLocation LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 loc_bar__minus_5_bar_6_bar_3_bar_60) + (objectAtLocation Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation CellPhone_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_62 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 loc_bar__minus_5_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_35_bar__plus_00_dot_72_bar__plus_00_dot_89 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 loc_bar__minus_5_bar__minus_4_bar_2_bar_60) + (objectAtLocation Laptop_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_44 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_23 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_18_bar__plus_00_dot_10_bar__minus_01_dot_66 loc_bar_0_bar__minus_5_bar_2_bar_60) + (objectAtLocation AlarmClock_bar__plus_01_dot_28_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 loc_bar_2_bar_6_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_09 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_99 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CD_bar__minus_00_dot_10_bar__plus_00_dot_69_bar__minus_01_dot_75 loc_bar_0_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__plus_01_dot_17_bar__plus_00_dot_08_bar__plus_01_dot_67 loc_bar_0_bar_5_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_56 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PenType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213329_139933/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190907_213329_139933/traj_data.json new file mode 100644 index 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BaseballBat_ceb35658", + "position": { + "x": -1.717, + "y": 0.708, + "z": -0.6771616 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 12.0453711 + } + }, + { + "objectName": "Bowl_400f92ab", + "position": { + "x": 1.35345471, + "y": 0.721387863, + "z": 0.8918423 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "BasketBall_93ff39a6", + "position": { + "x": -1.64, + "y": 0.1274, + "z": -1.652 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_ad1506cf", + "position": { + "x": 0.955000043, + "y": 0.7768329, + "z": -0.4405536 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_d7eb5187", + "position": { + "x": 0.0213174969, + "y": 0.6933112, + "z": -1.61652458 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "KeyChain_d0be3ae7", + "position": { + "x": -0.180307955, + "y": 0.09902375, + "z": -1.66384864 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "AlarmClock_e9abe4e3", + "position": { + "x": 1.35601091, + "y": 0.7294924, + "z": 1.56216073 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_a35ce977", + "position": { + "x": 0.164923832, + "y": 0.391632438, + "z": -1.66384864 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pillow_1574a200", + "position": { + "x": 0.704930544, + "y": 0.8492504, + "z": -0.988803744 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CD_15fd1764", + "position": { + "x": 1.35601091, + "y": 0.7286067, + "z": 1.72741032 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_93147e8a", + "position": { + "x": 1.35601091, + "y": 0.7346528, + "z": 1.39691114 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_fa34f539", + "position": { + "x": 1.15256226, + "y": 0.727, + "z": 1.56216073 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2100898946, + "scene_num": 305 + }, + "task_id": "trial_T20190907_213329_139933", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_39ASUFLU60OW7JDHZOU9DUM4I7CXED", + "high_descs": [ + "Turn around to face the wooden desk.", + "Pick up the black pen that is on the wooden desk just to the left of a pencil.", + "Look down at the front edge of the wooden desk.", + "Put the black pen into the white mug that is to the right of the blue book and second from the edge of the desk.", + "Pick up the mug with the black pen in it off of the wooden desk.", + "Look up at the top of the wooden desk.", + "Put the mug with the black pen in it on the top of the wooden desk to the left of the analog clock." + ], + "task_desc": "Put a mug with a pen in it on top of the wooden desk.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3QXNC7EIPLC7FXGPO1PGC2YIH4K90V", + "high_descs": [ + "Turn to your right and face desk", + "Pick up the pen on the desk", + "Look down in front of the desk", + "Put the pen in the second mug beside the book", + "Pick up the mug with pen", + "Look up on the upper part of the desk shelf", + "Put the mug with pen on top of the shelf" + ], + "task_desc": "Put mug with pen on top of the desk shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3XM0HYN6NNGRYABQDXKSJH01G7QEPR", + "high_descs": [ + "Turn around to face the desk.", + "Pick up the pen on the desk, between the clock and the pencil.", + "Look down, toward the mugs on the desk.", + "Put the pen in the mug, located in front of the clock.", + "Pick up the mug with the pen in it.", + "Look up, toward the top layer of the desk.", + "Place the mug on the desk, to the left of the clock." + ], + "task_desc": "Put a mug with a pen in it on the desk.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fb43fdba0f5366fba49ce2caac0b43e35235dd22 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/initial_state.pddl @@ -0,0 +1,561 @@ + +(define (problem plan_trial_T20190908_074820_251697) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 - object + BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 - object + BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 - object + Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 - object + Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_71 - object + Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_54 - object + Bowl_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 - object + Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 - object + CD_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_73 - object + Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 - object + CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 - object + CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_01_dot_84 - object + DeskLamp_bar__minus_00_dot_40_bar__plus_00_dot_69_bar__minus_01_dot_67 - object + KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + KeyChain_bar__plus_01_dot_10_bar__plus_00_dot_55_bar__plus_01_dot_95 - object + Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 - object + LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 - object + LightSwitch_bar__plus_00_dot_55_bar__plus_01_dot_16_bar__plus_02_dot_08 - object + Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 - object + Mug_bar__plus_00_dot_16_bar__plus_00_dot_69_bar__minus_01_dot_81 - object + Mug_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_07 - object + Mug_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_73 - object + Mug_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_79 - object + Pencil_bar__plus_01_dot_10_bar__plus_00_dot_08_bar__plus_00_dot_59 - object + Pencil_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_74 - object + Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 - object + Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 - object + Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 - object + Pen_bar__minus_00_dot_10_bar__plus_00_dot_70_bar__minus_01_dot_66 - object + Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_17 - object + Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 - object + Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 - object + Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 - object + Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 - object + Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 - object + Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 - receptacle + Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 - receptacle + Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 - receptacle + Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 - receptacle + Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 - receptacle + GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 - receptacle + LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 - receptacle + Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 - receptacle + loc_bar_2_bar_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_2_bar_60 - location + loc_bar_0_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_15 - location + loc_bar_1_bar_6_bar_1_bar_45 - location + loc_bar_0_bar__minus_4_bar_2_bar_60 - location + loc_bar_2_bar_5_bar_1_bar_60 - location + loc_bar_1_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_1_bar__minus_1_bar_1_bar_0 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_6_bar_3_bar_60 - location + loc_bar_2_bar_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_0 - location + loc_bar_2_bar_6_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar_6_bar_0_bar_30 - location + loc_bar_0_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_1_bar_30 - location + loc_bar__minus_5_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar_6_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Dresser_bar__minus_00_dot_09_bar__plus_00_dot_02_bar__minus_01_dot_72 DresserType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_48_bar__minus_01_dot_63 DrawerType) + (receptacleType Desk_bar__plus_01_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_30 DeskType) + (receptacleType Shelf_bar__plus_01_dot_34_bar__plus_01_dot_13_bar__plus_01_dot_38 ShelfType) + (receptacleType Bed_bar__plus_00_dot_96_bar__plus_00_dot_00_bar__minus_00_dot_72 BedType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_40_bar__plus_01_dot_74 DrawerType) + (receptacleType LaundryHamper_bar__minus_01_dot_60_bar__plus_00_dot_01_bar__plus_01_dot_84 LaundryHamperType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_62_bar__plus_01_dot_74 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_09_bar__plus_00_dot_19_bar__minus_01_dot_63 DrawerType) + (receptacleType Drawer_bar__plus_01_dot_13_bar__plus_00_dot_16_bar__plus_01_dot_74 DrawerType) + (receptacleType GarbageCan_bar__plus_01_dot_13_bar__plus_00_dot_03_bar__plus_00_dot_59 GarbageCanType) + (objectType CellPhone_bar__plus_01_dot_02_bar__plus_00_dot_73_bar__plus_01_dot_73 CellPhoneType) + (objectType Mug_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_07 MugType) + (objectType CD_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_56 CDType) + (objectType Laptop_bar__plus_01_dot_22_bar__plus_00_dot_72_bar__plus_01_dot_34 LaptopType) + (objectType CreditCard_bar__plus_01_dot_37_bar__plus_01_dot_14_bar__plus_01_dot_25 CreditCardType) + (objectType Mirror_bar__minus_00_dot_88_bar__plus_01_dot_35_bar__plus_02_dot_09 MirrorType) + (objectType LaundryHamperLid_bar__minus_01_dot_60_bar__plus_00_dot_48_bar__plus_01_dot_84 LaundryHamperLidType) + (objectType Chair_bar__plus_01_dot_13_bar__plus_00_dot_00_bar__plus_01_dot_05 ChairType) + (objectType Pencil_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_56 PencilType) + (objectType KeyChain_bar__plus_01_dot_10_bar__plus_00_dot_55_bar__plus_01_dot_95 KeyChainType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_02_dot_14_bar__minus_00_dot_13 PosterType) + (objectType Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_09 PenType) + (objectType Bowl_bar__plus_01_dot_15_bar__plus_00_dot_73_bar__plus_00_dot_90 BowlType) + (objectType BaseballBat_bar__minus_01_dot_72_bar__plus_00_dot_71_bar__minus_00_dot_68 BaseballBatType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_50_bar__minus_00_dot_13 PosterType) + (objectType Box_bar__minus_01_dot_23_bar__plus_00_dot_26_bar__minus_01_dot_44 BoxType) + (objectType CreditCard_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_01_dot_84 CreditCardType) + (objectType BasketBall_bar__minus_01_dot_64_bar__plus_00_dot_13_bar__minus_01_dot_65 BasketBallType) + (objectType Pillow_bar__plus_01_dot_08_bar__plus_00_dot_85_bar__plus_00_dot_11 PillowType) + (objectType Poster_bar__plus_00_dot_98_bar__plus_01_dot_97_bar__minus_01_dot_87 PosterType) + (objectType Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 BlindsType) + (objectType KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_73_bar__plus_01_dot_07 KeyChainType) + (objectType Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 WindowType) + (objectType Poster_bar__plus_01_dot_48_bar__plus_01_dot_98_bar__minus_01_dot_21 PosterType) + (objectType Book_bar__plus_00_dot_96_bar__plus_00_dot_78_bar__minus_00_dot_71 BookType) + (objectType Mug_bar__minus_00_dot_21_bar__plus_00_dot_69_bar__minus_01_dot_79 MugType) + (objectType Book_bar__plus_01_dot_08_bar__plus_00_dot_78_bar__minus_01_dot_54 BookType) + (objectType Pencil_bar__plus_01_dot_14_bar__plus_00_dot_56_bar__plus_01_dot_74 PencilType) + (objectType AlarmClock_bar__plus_00_dot_26_bar__plus_00_dot_69_bar__minus_01_dot_62 AlarmClockType) + (objectType 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loc_bar_1_bar_6_bar_1_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_70_bar__plus_00_dot_85_bar__minus_00_dot_17 loc_bar_0_bar__minus_2_bar_1_bar_60) + (objectAtLocation CD_bar__plus_01_dot_41_bar__plus_01_dot_14_bar__plus_01_dot_56 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Pen_bar__plus_01_dot_31_bar__plus_01_dot_14_bar__plus_01_dot_40 loc_bar_2_bar_6_bar_1_bar_30) + (objectAtLocation Window_bar__minus_00_dot_18_bar__plus_01_dot_01_bar__minus_02_dot_01 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_29_bar__plus_00_dot_73_bar__plus_01_dot_07 loc_bar_2_bar_5_bar_1_bar_60) + (objectAtLocation Blinds_bar__minus_00_dot_15_bar__plus_01_dot_68_bar__minus_01_dot_99 loc_bar__minus_1_bar__minus_5_bar_2_bar_0) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r ShelfType) + (exists (?o - object) + (and + (objectType ?o PenType) + (exists (?mo - object) + (and + (objectType ?mo MugType) + (isReceptacleObject ?mo) + (inReceptacleObject ?o ?mo) + (inReceptacle ?mo ?r) + ) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9a9677c95277f69718371d481b29a064d26d6464 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Pen-Mug-Shelf-305/trial_T20190908_074820_251697/traj_data.json @@ -0,0 +1,2210 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, 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}, + "rotation": { + "x": 8.146947e-05, + "y": 348.715851, + "z": -5.621328e-05 + } + } + ], + "object_toggles": [], + "random_seed": 115827722, + "scene_num": 305 + }, + "task_id": "trial_T20190908_074820_251697", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6U2C66WQ7QQN_31EUONYN2YKQFLLBTNWNULJX6XIVOI", + "high_descs": [ + "Go to the computer desk on the right ", + "Pick up the white mug From the desk ", + "Take a couple steps to the right, face the desk", + "Put the white mug on the top shelf of the desk ", + "Pick up the pen From the shelf", + "Put the pen inside the white mug" + ], + "task_desc": "Put the pen inside the mug on top of the desk", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3PDJHANYK8XV8EKNO2TPYK6XDJIH6W", + "high_descs": [ + "Turn right and walk to the desk.", + "Pick up the mug which is on the desk to the left of the laptop.", + "Walk slightly to the right and face the desk.", + "Put the mug on top of the CD which is on the top shelf of the desk.", + "Pick up the pen which is on the top shelf of the desk to the left of the credit card.", + "Put the pen in the mug." + ], + "task_desc": "Put a mug with a pen inside it on the top shelf of a desk on top of a CD.", + "votes": [ + 1, + 0, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3WI0P0II6497IHD5UUDXIUIVHMCRDK", + "high_descs": [ + "Move to your right so you are facing the furthest left of the desk", + "Pick up a mug off of the desk", + "Move to your right and then face left right away", + "Set the mug down on the shelf of the desk", + "Pick up a pen off of the desk", + "Set a pen down inside of the mug" + ], + "task_desc": "Move a mug and place a pen in it", + "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-Pan-Fridge-6/trial_T20190907_012722_837128/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pan-Fridge-6/trial_T20190907_012722_837128/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..63672847ceb44d75dd65bf4f8c48c97b44b2dd4c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pan-Fridge-6/trial_T20190907_012722_837128/initial_state.pddl @@ -0,0 +1,1087 @@ + +(define (problem plan_trial_T20190907_012722_837128) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + 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+(:init + + + (receptacleType Sink_bar__plus_01_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_27_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_64 CabinetType) + (receptacleType CoffeeMachine_bar__plus_00_dot_46_bar__plus_00_dot_90_bar__minus_01_dot_82 CoffeeMachineType) + (receptacleType Toaster_bar__minus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_88 ToasterType) + (receptacleType Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_64 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63 CounterTopType) + (receptacleType Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44 MicrowaveType) + (receptacleType 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(canContain CabinetType PanType) + (canContain CoffeeMachineType MugType) + (canContain CabinetType SaltShakerType) + (canContain CabinetType DishSpongeType) + (canContain CabinetType BowlType) + (canContain CabinetType KettleType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (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 KettleType) + (canContain CabinetType PotType) + (canContain CabinetType MugType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType CupType) + (canContain CabinetType PlateType) + (canContain CabinetType PepperShakerType) + (canContain CabinetType PanType) + (canContain CounterTopType SaltShakerType) + (canContain CounterTopType BreadType) 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Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34) + (cleanable DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_09) + (cleanable Plate_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_93) + (cleanable Potato_bar__minus_02_dot_60_bar__plus_01_dot_05_bar__plus_02_dot_48) + (cleanable Fork_bar__plus_01_dot_35_bar__plus_00_dot_92_bar__minus_01_dot_24) + (cleanable Egg_bar__minus_00_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_42) + (cleanable Tomato_bar__plus_01_dot_63_bar__plus_00_dot_95_bar__minus_01_dot_02) + (cleanable Apple_bar__plus_01_dot_60_bar__plus_00_dot_25_bar__plus_00_dot_71) + (cleanable Cup_bar__minus_02_dot_65_bar__plus_01_dot_54_bar__plus_02_dot_55) + (cleanable Spoon_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_01_dot_32) + (cleanable Bowl_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_01_dot_99) + (cleanable Fork_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_32) + (cleanable Mug_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_00_dot_92) + (cleanable Cup_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_03) + (cleanable Cup_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_01_dot_32) + (cleanable ButterKnife_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_01_dot_23) + (cleanable Spoon_bar__minus_02_dot_35_bar__plus_00_dot_78_bar__plus_00_dot_81) + (cleanable Pan_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_00_dot_65) + (cleanable Tomato_bar__plus_00_dot_39_bar__plus_00_dot_95_bar__minus_01_dot_37) + + (heatable Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93) + (heatable Bread_bar__minus_02_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_23) + (heatable Apple_bar__plus_01_dot_20_bar__plus_00_dot_97_bar__minus_00_dot_92) + (heatable Egg_bar__minus_02_dot_56_bar__plus_00_dot_21_bar__minus_01_dot_12) + (heatable Egg_bar__plus_01_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_34) + (heatable Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_42) + (heatable Plate_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_93) + (heatable Potato_bar__minus_02_dot_60_bar__plus_01_dot_05_bar__plus_02_dot_48) + (heatable Egg_bar__minus_00_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_42) + (heatable Tomato_bar__plus_01_dot_63_bar__plus_00_dot_95_bar__minus_01_dot_02) + (heatable Apple_bar__plus_01_dot_60_bar__plus_00_dot_25_bar__plus_00_dot_71) + (heatable Cup_bar__minus_02_dot_65_bar__plus_01_dot_54_bar__plus_02_dot_55) + (heatable Mug_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_00_dot_92) + (heatable Cup_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_03) + (heatable Cup_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_01_dot_32) + (heatable Tomato_bar__plus_00_dot_39_bar__plus_00_dot_95_bar__minus_01_dot_37) + (coolable Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93) + (coolable Lettuce_bar__plus_00_dot_05_bar__plus_00_dot_99_bar__plus_00_dot_65) + (coolable Pan_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_00_dot_06) + (coolable Bread_bar__minus_02_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_23) + (coolable Apple_bar__plus_01_dot_20_bar__plus_00_dot_97_bar__minus_00_dot_92) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_01_dot_23) + (coolable Egg_bar__minus_02_dot_56_bar__plus_00_dot_21_bar__minus_01_dot_12) + (coolable Egg_bar__plus_01_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_34) + (coolable Lettuce_bar__minus_02_dot_49_bar__plus_01_dot_17_bar__minus_00_dot_98) + (coolable Pan_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_00_dot_87) + (coolable Pot_bar__minus_02_dot_31_bar__plus_00_dot_11_bar__plus_00_dot_90) + (coolable Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34) + (coolable Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_42) + (coolable Plate_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_93) + (coolable Potato_bar__minus_02_dot_60_bar__plus_01_dot_05_bar__plus_02_dot_48) + (coolable Egg_bar__minus_00_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_42) + (coolable Tomato_bar__plus_01_dot_63_bar__plus_00_dot_95_bar__minus_01_dot_02) + (coolable Apple_bar__plus_01_dot_60_bar__plus_00_dot_25_bar__plus_00_dot_71) + (coolable Cup_bar__minus_02_dot_65_bar__plus_01_dot_54_bar__plus_02_dot_55) + (coolable Bowl_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_01_dot_99) + (coolable Mug_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_00_dot_92) + (coolable Cup_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_03) + (coolable Cup_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_01_dot_32) + (coolable Pan_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_00_dot_65) + (coolable Tomato_bar__plus_00_dot_39_bar__plus_00_dot_95_bar__minus_01_dot_37) + + + + + + (sliceable Lettuce_bar__plus_00_dot_05_bar__plus_00_dot_99_bar__plus_00_dot_65) + (sliceable Bread_bar__minus_02_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_23) + (sliceable Apple_bar__plus_01_dot_20_bar__plus_00_dot_97_bar__minus_00_dot_92) + (sliceable Egg_bar__minus_02_dot_56_bar__plus_00_dot_21_bar__minus_01_dot_12) + (sliceable Egg_bar__plus_01_dot_40_bar__plus_00_dot_95_bar__minus_01_dot_34) + (sliceable Lettuce_bar__minus_02_dot_49_bar__plus_01_dot_17_bar__minus_00_dot_98) + (sliceable Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_42) + (sliceable Potato_bar__minus_02_dot_60_bar__plus_01_dot_05_bar__plus_02_dot_48) + (sliceable Egg_bar__minus_00_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_42) + (sliceable Tomato_bar__plus_01_dot_63_bar__plus_00_dot_95_bar__minus_01_dot_02) + (sliceable Apple_bar__plus_01_dot_60_bar__plus_00_dot_25_bar__plus_00_dot_71) + (sliceable Tomato_bar__plus_00_dot_39_bar__plus_00_dot_95_bar__minus_01_dot_37) + + (inReceptacle Fork_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Pan_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_00_dot_87 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle DishSponge_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_09 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__plus_00_dot_05_bar__plus_00_dot_99_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Pan_bar__minus_00_dot_34_bar__plus_00_dot_91_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Egg_bar__minus_00_dot_08_bar__plus_00_dot_94_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Bread_bar__plus_00_dot_05_bar__plus_01_dot_00_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Spoon_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_34) + (inReceptacle Cup_bar__minus_02_dot_65_bar__plus_01_dot_54_bar__plus_02_dot_55 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_02_dot_93) + (inReceptacle Knife_bar__minus_02_dot_23_bar__plus_00_dot_80_bar__plus_00_dot_86 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90) + (inReceptacle Spoon_bar__minus_02_dot_35_bar__plus_00_dot_78_bar__plus_00_dot_81 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90) + (inReceptacle PepperShaker_bar__plus_01_dot_86_bar__plus_00_dot_91_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle ButterKnife_bar__plus_01_dot_60_bar__plus_00_dot_91_bar__plus_00_dot_47 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_19 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Apple_bar__plus_01_dot_20_bar__plus_00_dot_97_bar__minus_00_dot_92 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__minus_00_dot_34 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Tomato_bar__plus_00_dot_39_bar__plus_00_dot_95_bar__minus_01_dot_37 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Tomato_bar__plus_01_dot_63_bar__plus_00_dot_95_bar__minus_01_dot_02 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_02_bar__minus_01_dot_36 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Pan_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_69_bar__plus_00_dot_92_bar__plus_00_dot_06) + (inReceptacle Bowl_bar__minus_02_dot_56_bar__plus_01_dot_54_bar__plus_01_dot_99 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle Kettle_bar__minus_02_dot_31_bar__plus_00_dot_12_bar__minus_00_dot_07 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__minus_00_dot_24) + (inReceptacle PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__plus_00_dot_02 Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47) + (inReceptacle PepperShaker_bar__plus_01_dot_70_bar__plus_01_dot_65_bar__plus_00_dot_09 Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47) + (inReceptacle SoapBottle_bar__plus_01_dot_74_bar__plus_01_dot_67_bar__minus_00_dot_48 Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__minus_00_dot_78) + (inReceptacle Mug_bar__minus_02_dot_60_bar__plus_01_dot_53_bar__plus_00_dot_92 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_02_dot_31_bar__plus_00_dot_11_bar__plus_00_dot_90 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70) + (inReceptacle Plate_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Cup_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Plate_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle ButterKnife_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Bread_bar__minus_02_dot_29_bar__plus_01_dot_00_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Spatula_bar__minus_02_dot_37_bar__plus_00_dot_93_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Egg_bar__minus_02_dot_56_bar__plus_00_dot_21_bar__minus_01_dot_12 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Lettuce_bar__minus_02_dot_49_bar__plus_01_dot_17_bar__minus_00_dot_98 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Apple_bar__plus_01_dot_60_bar__plus_00_dot_25_bar__plus_00_dot_71 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle Potato_bar__minus_02_dot_60_bar__plus_01_dot_05_bar__plus_02_dot_48 Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_15_bar__plus_02_dot_01_bar__minus_01_dot_60 loc_bar_2_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47 loc_bar_3_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_64 loc_bar__minus_5_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70 loc_bar__minus_5_bar_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_01_dot_58 loc_bar__minus_5_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__minus_00_dot_24 loc_bar__minus_5_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_01_dot_97_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_36 loc_bar__minus_6_bar_1_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41 loc_bar__minus_7_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_64 loc_bar__minus_6_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation 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"Lettuce_6f8b6e53", + "position": { + "x": 0.0483515263, + "y": 0.994053841, + "z": 0.6473222 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_b0ad5ef5", + "position": { + "x": -2.538684, + "y": 0.9087127, + "z": 0.03161955 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_b57df01c", + "position": { + "x": 1.7355001, + "y": 1.66571486, + "z": -0.479000062 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3e5dadd0", + "position": { + "x": -2.37255049, + "y": 0.925899863, + "z": 0.6312814 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_40552007", + "position": { + "x": 0.7839775, + "y": 1.01518524, + "z": -1.35721731 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f05a14b3", + "position": { + "x": 1.59833741, + "y": 0.9111421, + "z": 0.4652969 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_e9198ae5", + "position": { + "x": 1.69797277, + "y": 1.65172625, + "z": 0.09208557 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_1f5d88fd", + "position": { + "x": -0.471179664, + "y": 0.9104642, + "z": 1.094 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_bc458cba", + "position": { + "x": -2.3114, + "y": 0.105, + "z": 0.895 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0b8e1a97", + "position": { + "x": 0.0483515263, + "y": 0.9120294, + "z": 1.31733882 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": 1.6252768, + "y": 0.953229249, + "z": -1.0222013 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": -2.59950018, + "y": 1.53300011, + "z": 0.918679833 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1997475187, + "scene_num": 6 + }, + "task_id": "trial_T20190907_012722_837128", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_33CID57107AYXRGVWLAPJ9NKJB33L0", + "high_descs": [ + "Turn left, go to the counter to the left of the oven.", + "Take the knife from the counter.", + "Turn left, go to the wall, turn left, go to the microwave.", + "Cut the potato in the microwave. Close the microwave.", + "Turn left, go to kitchen island on the left.", + "Put the knife in the left pan on the island.", + "Turn left, go to the microwave on the left.", + "Take a piece of potato out of the microwave.", + "Turn left, go to kitchen island on the left.", + "Put the potato in the left pan on the island.", + "Take the left pan from the island.", + "Turn right, go to the refrigerator on the right.", + "Put the pan to the right of the lettuce in the refrigerator." + ], + "task_desc": "Put a pan with a knife and slice of cooked potato in the refrigerator.", + "votes": [ + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_388U7OUMFAIDJXCBIIP23NYCMS2R0F", + "high_descs": [ + "Move to the counter top to the left of the stove.", + "Pick up the butter knife from counter top.", + "Move to the microwave on the opposite side of the room.", + "Open the microwave and slice the potato inside then close it.", + "Move to the island counter top to the left.", + "Place the knife in the left pan on the counter.", + "Move back to the microwave from before on the left.", + "Open and close the microwave after picking up a potato slice from inside.", + "Move back to the island counter top in the same place as before", + "Place the potato slice in the left pan", + "Pick up the pan on the left side with the items inside.", + "Move the the refrigerator on the right.", + "Open the door place the pan inside to the right of the lettuce." + ], + "task_desc": "Place a pan containing a butter knife as well as a sliced potato in the refrigerator on the top shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_3300DTYQT5YCYMC5DAZHJMQBL58EQI", + "high_descs": [ + "Turn to the left and go to the counter that is on the left side of the stove. ", + "Pick up the butter knife that is on the counter. ", + "Turn to the left, go to the wall, hang a left, go to the microwave. ", + "Open the microwave, cut the potato into slices, close the microwave. ", + "Turn to the left and go to the counter on the left where the skillets are. ", + "Put the butter knife in the skillet that is on the left. ", + "Turn to the left and go to the microwave.", + "Open the microwave, remove a slice of potato, close the microwave. ", + "Turn around and go back to the counter where the skillets are.", + "Put the potato in the skillet with the butter knife. ", + "Pick up the skillet that has the potato and butter knife in it. ", + "Turn to the right and go to the fridge. ", + "Open the freezer, put the skillet inside, close the freezer. " + ], + "task_desc": "Put a skillet with a potato and butter knife in it into the freezer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3XIQGXAUMFPBY4Y7CGG37KUNV6L7XL", + "high_descs": [ + "Turn left and walk to the counter to the left of the stove that is to your left", + "Pick up the knife to the left of the stove", + "Turn to your left and cross the room, then turn to your left and walk to the microwave in front of you", + "Open the microwave and cut the potato inside", + "Turn to your left, then walk to the counter to your left", + "Place the knife into the skillet on the left", + "Turn left and walk to the microwave on your left", + "Open the microwave, pick up a potato slice, and then close the microwave ", + "Turn left and walk to the counter on your left", + "Place potato in the left hand skillet to the right of the knife", + "Pick up the skillet that contains the knife and potato slice", + "Turn right and head to the refrigerator on your right", + "Open the fridge and freezer and place the skillet in the freezer ro the right of the lettuce" + ], + "task_desc": "Place skillet in a freezer", + "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-Pan-Fridge-6/trial_T20190907_012835_900895/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pan-Fridge-6/trial_T20190907_012835_900895/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..faf952a69f50b993acbfb2722702991e3bbea5d9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-PotatoSliced-Pan-Fridge-6/trial_T20190907_012835_900895/initial_state.pddl @@ -0,0 +1,1106 @@ + +(define (problem plan_trial_T20190907_012835_900895) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_13_bar__plus_00_dot_83_bar__minus_01_dot_39 - object + Bowl_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Bread_bar__minus_02_dot_37_bar__plus_01_dot_00_bar__plus_01_dot_53 - object + Bread_bar__minus_02_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 - object + ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + ButterKnife_bar__minus_02_dot_46_bar__plus_00_dot_91_bar__plus_00_dot_33 - object + Chair_bar__minus_02_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_84 - object + Cup_bar__plus_01_dot_38_bar__plus_00_dot_92_bar__minus_01_dot_21 - object + Cup_bar__minus_02_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_44 - object + Cup_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_48 - object + DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_91_bar__plus_01_dot_23 - object + Egg_bar__minus_02_dot_58_bar__plus_01_dot_12_bar__minus_00_dot_98 - object + Faucet_bar__plus_01_dot_24_bar__plus_01_dot_14_bar__minus_01_dot_47 - object + Fork_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93 - object + Fork_bar__minus_02_dot_38_bar__plus_00_dot_77_bar__plus_00_dot_91 - object + Kettle_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_65 - object + Knife_bar__plus_00_dot_68_bar__plus_00_dot_94_bar__minus_01_dot_63 - object + Knife_bar__plus_01_dot_46_bar__plus_00_dot_94_bar__minus_01_dot_13 - object + Knife_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_49 - object + Lettuce_bar__plus_00_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_32 - object + LightSwitch_bar__minus_00_dot_93_bar__plus_01_dot_35_bar__minus_01_dot_95 - object + Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 - object + Mug_bar__minus_02_dot_48_bar__plus_01_dot_58_bar__minus_01_dot_49 - object + Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_06 - object + PaperTowelRoll_bar__plus_01_dot_77_bar__plus_00_dot_29_bar__plus_00_dot_62 - object + PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_35 - object + PepperShaker_bar__minus_02_dot_68_bar__plus_01_dot_53_bar__plus_02_dot_20 - object + Plate_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_76 - object + Potato_bar__plus_01_dot_56_bar__plus_00_dot_22_bar__plus_00_dot_65 - object + Potato_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__plus_01_dot_76 - object + Potato_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_65 - object + Potato_bar__minus_02_dot_39_bar__plus_01_dot_34_bar__minus_00_dot_51 - object + Pot_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__minus_00_dot_34 - object + Pot_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_93 - object + SaltShaker_bar__plus_01_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_44 - object + SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_54 - object + SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_54 - object + Sink_bar__plus_01_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_27 - object + SoapBottle_bar__minus_02_dot_60_bar__plus_01_dot_54_bar__plus_00_dot_77 - object + SoapBottle_bar__minus_02_dot_69_bar__plus_01_dot_54_bar__plus_02_dot_62 - object + Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spatula_bar__minus_02_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_23 - object + Spatula_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_03 - object + Spoon_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__minus_00_dot_77 - object + Spoon_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_09 - object + Spoon_bar__minus_02_dot_38_bar__plus_00_dot_78_bar__plus_01_dot_32 - object + StoveKnob_bar__plus_01_dot_88_bar__plus_01_dot_09_bar__plus_00_dot_02 - object + StoveKnob_bar__plus_01_dot_88_bar__plus_01_dot_09_bar__plus_00_dot_15 - object + StoveKnob_bar__plus_01_dot_88_bar__plus_01_dot_09_bar__minus_00_dot_31 - object + StoveKnob_bar__plus_01_dot_88_bar__plus_01_dot_09_bar__minus_00_dot_44 - object + Tomato_bar__plus_01_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_81 - object + Tomato_bar__plus_01_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_17 - object + Tomato_bar__minus_02_dot_39_bar__plus_01_dot_34_bar__minus_01_dot_07 - object + Window_bar__plus_01_dot_51_bar__plus_01_dot_53_bar__minus_01_dot_50 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_12 - object + Cabinet_bar__plus_00_dot_15_bar__plus_02_dot_01_bar__minus_01_dot_60 - receptacle + Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47 - receptacle + Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__minus_00_dot_78 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_64 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70 - receptacle + 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CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63 - receptacle + CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41 - receptacle + CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09 - receptacle + CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32 - receptacle + Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_44 - receptacle + Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90 - receptacle + Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_37 - receptacle + Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_03 - receptacle + Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78 - receptacle + GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68 - receptacle + Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44 - receptacle + 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Potato_bar__plus_01_dot_56_bar__plus_00_dot_22_bar__plus_00_dot_65) + (sliceable Tomato_bar__minus_02_dot_39_bar__plus_01_dot_34_bar__minus_01_dot_07) + (sliceable Potato_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_65) + + (inReceptacleObject Knife_bar__plus_00_dot_68_bar__plus_00_dot_94_bar__minus_01_dot_63 Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59) + (inReceptacle Spoon_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_09 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Bowl_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Plate_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_76 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Kettle_bar__plus_00_dot_05_bar__plus_00_dot_91_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle SaltShaker_bar__minus_00_dot_47_bar__plus_00_dot_91_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle SaltShaker_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Potato_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Spatula_bar__minus_00_dot_34_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Lettuce_bar__plus_00_dot_05_bar__plus_00_dot_99_bar__plus_01_dot_32 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle Potato_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__plus_01_dot_76 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09) + (inReceptacle SoapBottle_bar__minus_02_dot_69_bar__plus_01_dot_54_bar__plus_02_dot_62 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_02_dot_93) + (inReceptacle Fork_bar__minus_02_dot_38_bar__plus_00_dot_77_bar__plus_00_dot_91 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90) + (inReceptacle Pot_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__minus_00_dot_34 StoveBurner_bar__plus_01_dot_69_bar__plus_00_dot_92_bar__minus_00_dot_34) + (inReceptacle PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_35 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle SaltShaker_bar__plus_01_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_44 CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41) + (inReceptacle Spoon_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__minus_00_dot_77 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Knife_bar__plus_00_dot_68_bar__plus_00_dot_94_bar__minus_01_dot_63 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_48 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle Tomato_bar__plus_01_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_81 CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63) + (inReceptacle PepperShaker_bar__minus_02_dot_68_bar__plus_01_dot_53_bar__plus_02_dot_20 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69) + (inReceptacle SoapBottle_bar__minus_02_dot_60_bar__plus_01_dot_54_bar__plus_00_dot_77 Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41) + (inReceptacle Cup_bar__minus_02_dot_38_bar__plus_00_dot_11_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_64) + (inReceptacle Mug_bar__minus_02_dot_48_bar__plus_01_dot_58_bar__minus_01_dot_49 Cabinet_bar__minus_02_dot_29_bar__plus_01_dot_97_bar__minus_01_dot_33) + (inReceptacle Spatula_bar__minus_02_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_03 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Bread_bar__minus_02_dot_54_bar__plus_01_dot_00_bar__plus_00_dot_63 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Fork_bar__minus_02_dot_29_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle ButterKnife_bar__minus_02_dot_46_bar__plus_00_dot_91_bar__plus_00_dot_33 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Pot_bar__minus_02_dot_54_bar__plus_00_dot_91_bar__plus_00_dot_93 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Bread_bar__minus_02_dot_37_bar__plus_01_dot_00_bar__plus_01_dot_53 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle DishSponge_bar__minus_02_dot_21_bar__plus_00_dot_91_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Spatula_bar__minus_02_dot_37_bar__plus_00_dot_93_bar__plus_01_dot_23 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Cup_bar__minus_02_dot_62_bar__plus_00_dot_91_bar__plus_00_dot_03 CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32) + (inReceptacle Pan_bar__plus_01_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_06 StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__plus_00_dot_06) + (inReceptacle Spoon_bar__minus_02_dot_38_bar__plus_00_dot_78_bar__plus_01_dot_32 Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_37) + (inReceptacle Potato_bar__minus_02_dot_39_bar__plus_01_dot_34_bar__minus_00_dot_51 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_01_dot_12_bar__minus_00_dot_98 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Tomato_bar__minus_02_dot_39_bar__plus_01_dot_34_bar__minus_01_dot_07 Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78) + (inReceptacle Knife_bar__plus_00_dot_68_bar__plus_00_dot_94_bar__minus_01_dot_63 CoffeeMachine_bar__plus_00_dot_46_bar__plus_00_dot_90_bar__minus_01_dot_82) + (inReceptacle Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 CoffeeMachine_bar__plus_00_dot_46_bar__plus_00_dot_90_bar__minus_01_dot_82) + (inReceptacle Apple_bar__plus_01_dot_13_bar__plus_00_dot_83_bar__minus_01_dot_39 Sink_bar__plus_01_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_27_bar_SinkBasin) + (inReceptacle Knife_bar__plus_01_dot_77_bar__plus_00_dot_94_bar__plus_00_dot_49 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_77_bar__plus_00_dot_29_bar__plus_00_dot_62 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_01_dot_56_bar__plus_00_dot_22_bar__plus_00_dot_65 GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_15_bar__plus_02_dot_01_bar__minus_01_dot_60 loc_bar_2_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__plus_00_dot_47 loc_bar_3_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_57_bar__plus_02_dot_01_bar__minus_00_dot_78 loc_bar_3_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_64 loc_bar__minus_5_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_00_dot_70 loc_bar__minus_5_bar_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__plus_01_dot_58 loc_bar__minus_5_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_40_bar__minus_00_dot_24 loc_bar__minus_5_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_29_bar__plus_01_dot_97_bar__minus_01_dot_33 loc_bar__minus_5_bar__minus_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_36 loc_bar__minus_6_bar_1_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_00_dot_41 loc_bar__minus_7_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_64 loc_bar__minus_6_bar_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_01_dot_69 loc_bar__minus_7_bar_8_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_01_dot_95_bar__plus_02_dot_93 loc_bar__minus_7_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_02_dot_15_bar__minus_00_dot_29 loc_bar__minus_5_bar__minus_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_45_bar__plus_02_dot_15_bar__minus_01_dot_28 loc_bar__minus_5_bar__minus_4_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_46_bar__plus_00_dot_90_bar__minus_01_dot_82 loc_bar_2_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_47_bar__plus_00_dot_95_bar__minus_01_dot_63 loc_bar_2_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_59_bar__plus_00_dot_95_bar__plus_00_dot_41 loc_bar_4_bar_3_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_36_bar__plus_00_dot_95_bar__plus_01_dot_09 loc_bar__minus_1_bar_9_bar_2_bar_30) + (receptacleAtLocation CounterTop_bar__minus_01_dot_49_bar__plus_00_dot_95_bar__plus_01_dot_32 loc_bar__minus_7_bar_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_44 loc_bar__minus_6_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_00_dot_90 loc_bar__minus_6_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__plus_01_dot_37 loc_bar__minus_6_bar_7_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_28_bar__plus_00_dot_79_bar__minus_00_dot_03 loc_bar__minus_6_bar_1_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_48_bar__plus_00_dot_00_bar__minus_00_dot_78 loc_bar__minus_6_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__plus_00_dot_68 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_7_bar_10_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_01_dot_38_bar__plus_00_dot_81_bar__minus_01_dot_27_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__plus_00_dot_06 loc_bar_3_bar_0_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_41_bar__plus_00_dot_92_bar__minus_00_dot_34 loc_bar_3_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_69_bar__plus_00_dot_92_bar__plus_00_dot_06 loc_bar_3_bar_0_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_69_bar__plus_00_dot_92_bar__minus_00_dot_34 loc_bar_3_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__minus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_88 loc_bar__minus_7_bar_8_bar_3_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_01_dot_59 loc_bar_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation Tomato_bar__plus_01_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_17 loc_bar_4_bar__minus_3_bar_2_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_38_bar__plus_00_dot_78_bar__plus_01_dot_32 loc_bar__minus_6_bar_7_bar_3_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_69_bar__plus_00_dot_93_bar__minus_00_dot_34 loc_bar_3_bar__minus_1_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_91_bar__minus_01_dot_48 loc_bar_2_bar__minus_4_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__plus_01_dot_68_bar__plus_00_dot_91_bar__plus_00_dot_35 loc_bar_4_bar_3_bar_1_bar_45) + 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"x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_57ff6e2f", + "position": { + "x": 1.12799323, + "y": 0.8327445, + "z": -1.39473009 + }, + "rotation": { + "x": 1.40334208e-14, + "y": 225.000031, + "z": 0.0 + } + }, + { + "objectName": "Bowl_988570b5", + "position": { + "x": 0.0483515263, + "y": 0.9080944, + "z": 0.423983335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_850ba9bc", + "position": { + "x": -2.289484, + "y": 0.911448538, + "z": 0.9311123 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_209e2ea9", + "position": { + "x": -2.37255049, + "y": 0.996719658, + "z": 1.53077412 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_7b0d90af", + "position": { + "x": -0.08153126, + "y": 0.913369656, + "z": 1.76401663 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_2802642b", + "position": { + "x": -2.57825041, + "y": 1.11984134, + "z": -0.979780734 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_0884e440", + "position": { + "x": 0.0483515263, + "y": 0.91194123, + "z": 0.6473222 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_b563bb4b", + "position": { + "x": -0.341296852, + "y": 0.9472332, + "z": 1.76401663 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_81e9b3dd", + "position": { + "x": -0.08153126, + "y": 0.9059, + "z": 1.54067779 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6f8b6e53", + "position": { + "x": 0.0483515263, + "y": 0.994053841, + "z": 1.31733882 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_b0ad5ef5", + "position": { + "x": -2.38490152, + "y": 0.112790704, + "z": 0.437999874 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_b57df01c", + "position": { + "x": -2.59950018, + "y": 1.53996527, + "z": 0.774226665 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_3e5dadd0", + "position": { + "x": -0.341296852, + "y": 0.925899863, + "z": 0.423983335 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_40552007", + "position": { + "x": 1.771809, + "y": 0.289516717, + "z": 0.6239377 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f05a14b3", + "position": { + "x": -0.211414054, + "y": 0.9109421, + "z": 0.423983335 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_e9198ae5", + "position": { + "x": 1.68401384, + "y": 0.906100035, + "z": 0.3467031 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_1f5d88fd", + "position": { + "x": 0.7657474, + "y": 0.910464168, + "z": -1.47816634 + }, + "rotation": { + "x": 0.0, + "y": 44.9999161, + "z": 0.0 + } + }, + { + "objectName": "Pot_bc458cba", + "position": { + "x": 1.6916, + "y": 0.9295, + "z": -0.3359 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_0b8e1a97", + "position": { + "x": -2.379117, + "y": 0.7752251, + "z": 1.32221115 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_9b863229", + "position": { + "x": 1.496708, + "y": 0.965208, + "z": -1.166203 + }, + "rotation": { + "x": 0.0, + "y": 225.000031, + "z": 0.0 + } + }, + { + "objectName": "Mug_db7f1139", + "position": { + "x": 0.4640001, + "y": 0.9558, + "z": -1.5935 + }, + "rotation": { + "x": 0.0, + "y": 3.24433968e-05, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4154983473, + "scene_num": 6 + }, + "task_id": "trial_T20190907_012835_900895", + "task_type": "pick_and_place_with_movable_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1RLO9LNUJIW5S_30ZX6P7VFBC3HJWCP0K7KK509HYJ2L", + "high_descs": [ + "Walk over to stand on the right side of the counter in front of you so you are facing it you should see two salt shakers on the far side..", + "Pick up the knife that's touching the spatula.", + "Walk to the opposite side of the island counter that's your on now looking towards the island.", + "Cut the potato to the right of the plate into slices.", + "Turn left and walk past the island then turn right and walk until the stove is on your left and when it is turn left and walk to it.", + "Put the knife in the pan on the bottom left burner.", + "Go back to the potato you cut up.", + "Pick up a slice of potato near the middle of the potato.", + "Walk back over to the stove.", + "Put the potato in the pan on the bottom left burner.", + "Pick up the pan with the potato and the knife.", + "Turn right and walk to the counter then turn right and walk to the fridge.", + "Open the fridge and put the pan in the top portion towards the edge in the middle." + ], + "task_desc": "Put a pan that contains a slice of potato in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AT3C00TKZK13L_39GHHAVOMI8DKXBZTE3VDZ2YTU54JB", + "high_descs": [ + "Walk towards the counter", + "Grab a knife from the counter", + "Walk with the knife towards the other side of the counter", + "Slice a potato on the counter", + "Walk with the knife towards the stove", + "Set the knife on the pan on the stove", + "Walk back to the counter where the slice potato is", + "Take a slice of the potato", + "Walk with the slice of the potato back to the stove", + "Put the slice of the potato on the pan", + "Grab the pan with the knife and potato", + "Walk with the pan towards the fridge", + "Open the fridge and set the pan inside " + ], + "task_desc": "Slice a potato, put the knife and slice of potato in pan, put pan in fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3AUQQEL7U8A5C4TSR2UC4KNF75ZV0A", + "high_descs": [ + "Turn right, go towards the fridge, turn left, go to the short side of the island, face the island.", + "Take the knife from the island.", + "Go around the island to the opposite short side of the island.", + "Cut the potato next to the plate into slices.", + "Go around the island on its left and go to the oven to the left.", + "Put the knife in the pan on the front of the stove top.", + "Turn left, go back to the far short side of the island where the potato is.", + "Take a slice of potato.", + "Go around the island on its left and go to the oven to the left.", + "Put the potato in the pan on the front of the stove top.", + "Take the pan from the stove top.", + "Turn around, go to the fridge.", + "Put the pan on the the lowest shelf of the top compartment of the fridge." + ], + "task_desc": "Put a pan with a slice of potato in a 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-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..89e756f03fce22f919a88f0344573ea3f2f62134 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/initial_state.pddl @@ -0,0 +1,794 @@ + +(define (problem plan_trial_T20190908_220526_015430) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31 - object + Chair_bar__minus_05_dot_38_bar__plus_00_dot_02_bar__plus_02_dot_70 - object + Chair_bar__minus_05_dot_39_bar__plus_00_dot_02_bar__plus_03_dot_37 - object + Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 - object + Chair_bar__minus_06_dot_21_bar__plus_00_dot_02_bar__plus_02_dot_52 - object + Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 - object + Chair_bar__minus_06_dot_30_bar__plus_00_dot_02_bar__plus_01_dot_67 - object + CreditCard_bar__minus_03_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_60 - object + FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99 - object + HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 - object + KeyChain_bar__minus_03_dot_12_bar__plus_00_dot_19_bar__plus_01_dot_77 - object + KeyChain_bar__minus_05_dot_57_bar__plus_00_dot_64_bar__plus_02_dot_92 - object + Laptop_bar__minus_05_dot_76_bar__plus_00_dot_63_bar__plus_02_dot_38 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 - object + Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27 - object + Newspaper_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_02_dot_92 - object + Painting_bar__minus_00_dot_97_bar__plus_01_dot_40_bar__plus_05_dot_27 - object + Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 - object + Pillow_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__plus_03_dot_32 - object + Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07 - object + RemoteControl_bar__minus_03_dot_33_bar__plus_00_dot_28_bar__plus_03_dot_59 - object + RemoteControl_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_01_dot_86 - object + Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 - object + Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 - object + Statue_bar__minus_04_dot_42_bar__plus_01_dot_28_bar__plus_05_dot_13 - object + Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 - object + Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_01_dot_86 - object + Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 - object + Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 - object + Television_bar__minus_03_dot_50_bar__plus_01_dot_51_bar__plus_00_dot_00 - object + Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 - object + Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 - object + Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 - object + Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 - object + Vase_bar__minus_05_dot_60_bar__plus_00_dot_40_bar__plus_05_dot_17 - object + Vase_bar__minus_05_dot_82_bar__plus_00_dot_64_bar__plus_01_dot_51 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 - object + ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 - receptacle + ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 - receptacle + Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 - receptacle + CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 - receptacle + CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 - receptacle + DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 - receptacle + Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 - receptacle + GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 - receptacle + Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 - receptacle + Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 - receptacle + Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 - receptacle + Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 - receptacle + loc_bar__minus_25_bar_17_bar_2_bar_60 - location + loc_bar__minus_9_bar_3_bar_2_bar_45 - location + loc_bar__minus_19_bar_13_bar_3_bar_60 - location + loc_bar__minus_16_bar_18_bar_0_bar_0 - location + loc_bar__minus_12_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_5_bar_3_bar_45 - location + loc_bar__minus_16_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_17_bar_0_bar_60 - location + loc_bar__minus_19_bar_18_bar_0_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_8_bar_9_bar_1_bar_60 - location + loc_bar__minus_23_bar_18_bar_0_bar_45 - location + loc_bar__minus_26_bar_18_bar_0_bar_45 - location + loc_bar__minus_24_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_30 - location + loc_bar__minus_12_bar_17_bar_0_bar_60 - location + loc_bar__minus_23_bar_2_bar_2_bar_30 - location + loc_bar__minus_19_bar_11_bar_3_bar_60 - location + loc_bar__minus_2_bar_11_bar_1_bar_45 - location + loc_bar__minus_26_bar_17_bar_0_bar_60 - location + loc_bar__minus_13_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_0 - location + loc_bar__minus_11_bar_18_bar_0_bar_30 - location + loc_bar__minus_25_bar_18_bar_0_bar_30 - location + loc_bar__minus_11_bar_5_bar_3_bar_45 - location + loc_bar__minus_14_bar_3_bar_2_bar_15 - location + loc_bar__minus_19_bar_7_bar_3_bar_60 - location + loc_bar__minus_26_bar_4_bar_0_bar_60 - location + loc_bar__minus_24_bar_17_bar_0_bar_60 - location + loc_bar__minus_2_bar_5_bar_1_bar_45 - location + loc_bar__minus_20_bar_18_bar_0_bar_0 - location + loc_bar__minus_4_bar_19_bar_0_bar_30 - location + loc_bar__minus_2_bar_14_bar_1_bar_45 - location + loc_bar__minus_2_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_19_bar_1_bar_60 - location + loc_bar__minus_13_bar_10_bar_0_bar_60 - location + loc_bar__minus_25_bar_17_bar_0_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_30 - location + loc_bar__minus_19_bar_18_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_2_bar_17_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_0_bar_60 - location + loc_bar__minus_12_bar_17_bar_0_bar_45 - location + loc_bar__minus_19_bar_10_bar_3_bar_45 - location + loc_bar__minus_18_bar_18_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_5_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_0 - location + loc_bar__minus_9_bar_18_bar_0_bar_45 - location + loc_bar__minus_17_bar_4_bar_1_bar_60 - location + loc_bar__minus_16_bar_9_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 CoffeeTableType) + (receptacleType Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 ShelfType) + (receptacleType ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 ShelfType) + (receptacleType Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 ShelfType) + (receptacleType DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 DiningTableType) + (receptacleType Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (receptacleType Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 ShelfType) + (receptacleType Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 DrawerType) + (receptacleType Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 ShelfType) + (receptacleType Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 CabinetType) + (receptacleType Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 CabinetType) + (receptacleType Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 ShelfType) + (receptacleType Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 ShelfType) + (receptacleType Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 CabinetType) + (receptacleType GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 ArmChairType) + (receptacleType Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 CabinetType) + (receptacleType CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 CoffeeTableType) + (receptacleType Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 ShelfType) + (receptacleType Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 DrawerType) + (receptacleType Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 SofaType) + (receptacleType Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (objectType Pillow_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__plus_03_dot_32 PillowType) + (objectType Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 ChairType) + (objectType Newspaper_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_02_dot_92 NewspaperType) + (objectType Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 VaseType) + (objectType Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 StatueType) + (objectType Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_01_dot_86 StatueType) + (objectType Vase_bar__minus_05_dot_82_bar__plus_00_dot_64_bar__plus_01_dot_51 VaseType) + (objectType Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27 NewspaperType) + (objectType Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 ChairType) + (objectType Vase_bar__minus_05_dot_60_bar__plus_00_dot_40_bar__plus_05_dot_17 VaseType) + (objectType Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 WindowType) + (objectType Statue_bar__minus_04_dot_42_bar__plus_01_dot_28_bar__plus_05_dot_13 StatueType) + (objectType Chair_bar__minus_06_dot_30_bar__plus_00_dot_02_bar__plus_01_dot_67 ChairType) + (objectType Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 VaseType) + (objectType Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 WindowType) + (objectType Painting_bar__minus_00_dot_97_bar__plus_01_dot_40_bar__plus_05_dot_27 PaintingType) + (objectType RemoteControl_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_01_dot_86 RemoteControlType) + (objectType HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 HousePlantType) + (objectType FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99 FloorLampType) + (objectType Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 VaseType) + (objectType KeyChain_bar__minus_05_dot_57_bar__plus_00_dot_64_bar__plus_02_dot_92 KeyChainType) + (objectType Chair_bar__minus_05_dot_38_bar__plus_00_dot_02_bar__plus_02_dot_70 ChairType) + (objectType Chair_bar__minus_06_dot_21_bar__plus_00_dot_02_bar__plus_02_dot_52 ChairType) + (objectType Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 StatueType) + (objectType LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 LightSwitchType) + (objectType Chair_bar__minus_05_dot_39_bar__plus_00_dot_02_bar__plus_03_dot_37 ChairType) + (objectType Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 PaintingType) + (objectType Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 StatueType) + (objectType Television_bar__minus_03_dot_50_bar__plus_01_dot_51_bar__plus_00_dot_00 TelevisionType) + (objectType CreditCard_bar__minus_03_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_60 CreditCardType) + (objectType KeyChain_bar__minus_03_dot_12_bar__plus_00_dot_19_bar__plus_01_dot_77 KeyChainType) + (objectType Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 StatueType) + (objectType RemoteControl_bar__minus_03_dot_33_bar__plus_00_dot_28_bar__plus_03_dot_59 RemoteControlType) + (objectType Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31 BoxType) + (objectType Laptop_bar__minus_05_dot_76_bar__plus_00_dot_63_bar__plus_02_dot_38 LaptopType) + (objectType Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 WindowType) + (objectType Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 StatueType) + (objectType Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07 PlateType) + (objectType Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 VaseType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType StatueType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain ShelfType BoxType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PlateType) + (canContain ShelfType RemoteControlType) + (canContain ShelfType StatueType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain ShelfType NewspaperType) + (canContain ShelfType VaseType) + (canContain 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Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23) + (pickupable RemoteControl_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_01_dot_86) + (pickupable Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18) + (pickupable KeyChain_bar__minus_05_dot_57_bar__plus_00_dot_64_bar__plus_02_dot_92) + (pickupable Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21) + (pickupable Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79) + (pickupable CreditCard_bar__minus_03_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_60) + (pickupable KeyChain_bar__minus_03_dot_12_bar__plus_00_dot_19_bar__plus_01_dot_77) + (pickupable Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19) + (pickupable RemoteControl_bar__minus_03_dot_33_bar__plus_00_dot_28_bar__plus_03_dot_59) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31) + (pickupable Laptop_bar__minus_05_dot_76_bar__plus_00_dot_63_bar__plus_02_dot_38) + (pickupable Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17) + (pickupable Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07) + (pickupable Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31) + (isReceptacleObject Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07) + (openable Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03) + (openable Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46) + (openable Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03) + (openable Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00) + (openable Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00) + (openable Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32) + (openable Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33) + (openable Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00) + (openable Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03) + (openable Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46) + (openable Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03) + (openable Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00) + (openable Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46) + + (atLocation agent1 loc_bar__minus_16_bar_9_bar_0_bar_30) + + (cleanable Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07) + + (heatable Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07) + (coolable Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07) + + + (toggleable FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99) + + + + + (inReceptacle Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_01_dot_86 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Newspaper_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_02_dot_92 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Laptop_bar__minus_05_dot_76_bar__plus_00_dot_63_bar__plus_02_dot_38 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle RemoteControl_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_01_dot_86 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle KeyChain_bar__minus_05_dot_57_bar__plus_00_dot_64_bar__plus_02_dot_92 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Vase_bar__minus_05_dot_82_bar__plus_00_dot_64_bar__plus_01_dot_51 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17) + (inReceptacle RemoteControl_bar__minus_03_dot_33_bar__plus_00_dot_28_bar__plus_03_dot_59 Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63) + (inReceptacle Vase_bar__minus_05_dot_60_bar__plus_00_dot_40_bar__plus_05_dot_17 Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17) + (inReceptacle Statue_bar__minus_04_dot_42_bar__plus_01_dot_28_bar__plus_05_dot_13 Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17) + (inReceptacle Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17) + (inReceptacle Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19) + (inReceptacle Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31 Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27) + (inReceptacle Pillow_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__plus_03_dot_32 ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31) + (inReceptacle Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07 CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00) + (inReceptacle Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17) + (inReceptacle Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17) + (inReceptacle KeyChain_bar__minus_03_dot_12_bar__plus_00_dot_19_bar__plus_01_dot_77 CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73) + (inReceptacle CreditCard_bar__minus_03_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_60 CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 loc_bar__minus_8_bar_9_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 loc_bar__minus_7_bar_9_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 loc_bar__minus_5_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_9_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 loc_bar__minus_7_bar_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_11_bar_18_bar_0_bar_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 loc_bar__minus_16_bar_18_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 loc_bar__minus_18_bar_18_bar_0_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_23_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_25_bar_18_bar_0_bar_30) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 loc_bar__minus_12_bar_3_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 loc_bar__minus_17_bar_4_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_19_bar_13_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_7_bar_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_5_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_11_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_26_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_25_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 loc_bar__minus_24_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 loc_bar__minus_3_bar_3_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 loc_bar__minus_3_bar_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 loc_bar__minus_9_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_7_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 loc_bar__minus_5_bar_5_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_13_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 loc_bar__minus_16_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 loc_bar__minus_20_bar_18_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_24_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_26_bar_18_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_01_dot_86 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_05_dot_57_bar__plus_00_dot_64_bar__plus_02_dot_92 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 loc_bar__minus_19_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_39_bar__plus_00_dot_02_bar__plus_03_dot_37 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31 loc_bar__minus_5_bar_5_bar_3_bar_30) + (objectAtLocation Chair_bar__minus_06_dot_21_bar__plus_00_dot_02_bar__plus_02_dot_52 loc_bar__minus_19_bar_10_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_05_dot_38_bar__plus_00_dot_02_bar__plus_02_dot_70 loc_bar__minus_19_bar_11_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 loc_bar__minus_25_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_30_bar__plus_00_dot_02_bar__plus_01_dot_67 loc_bar__minus_26_bar_4_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 loc_bar__minus_26_bar_18_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_03_dot_12_bar__plus_00_dot_19_bar__plus_01_dot_77 loc_bar__minus_17_bar_4_bar_1_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 loc_bar__minus_9_bar_3_bar_2_bar_45) + (objectAtLocation FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99 loc_bar__minus_3_bar_19_bar_1_bar_60) + (objectAtLocation Television_bar__minus_03_dot_50_bar__plus_01_dot_51_bar__plus_00_dot_00 loc_bar__minus_14_bar_3_bar_2_bar_15) + (objectAtLocation Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_05_dot_60_bar__plus_00_dot_40_bar__plus_05_dot_17 loc_bar__minus_24_bar_17_bar_0_bar_60) + (objectAtLocation Newspaper_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_02_dot_92 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_10_bar__plus_00_dot_18_bar__plus_01_dot_60 loc_bar__minus_17_bar_4_bar_1_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_33_bar__plus_00_dot_28_bar__plus_03_dot_59 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_05_dot_76_bar__plus_00_dot_63_bar__plus_02_dot_38 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__plus_03_dot_32 loc_bar__minus_7_bar_9_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 loc_bar__minus_2_bar_17_bar_1_bar_45) + (objectAtLocation Vase_bar__minus_05_dot_82_bar__plus_00_dot_64_bar__plus_01_dot_51 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_01_dot_86 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 loc_bar__minus_2_bar_11_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 loc_bar__minus_3_bar_3_bar_2_bar_30) + (objectAtLocation Plate_bar__minus_02_dot_89_bar__plus_00_dot_31_bar__plus_02_dot_07 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 loc_bar__minus_19_bar_18_bar_0_bar_45) + (objectAtLocation Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 loc_bar__minus_23_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 loc_bar__minus_2_bar_11_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 loc_bar__minus_2_bar_14_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 loc_bar__minus_2_bar_5_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_97_bar__plus_01_dot_40_bar__plus_05_dot_27 loc_bar__minus_4_bar_19_bar_0_bar_30) + (objectAtLocation Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 loc_bar__minus_20_bar_18_bar_0_bar_0) + (objectAtLocation Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 loc_bar__minus_3_bar_3_bar_2_bar_0) + (objectAtLocation Statue_bar__minus_04_dot_42_bar__plus_01_dot_28_bar__plus_05_dot_13 loc_bar__minus_19_bar_18_bar_0_bar_30) + (objectAtLocation Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 loc_bar__minus_13_bar_18_bar_0_bar_45) + (objectAtLocation Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 loc_bar__minus_19_bar_13_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o VaseType) + (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-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..ee77881c1a3d7361037dbf8c778f50f174aaf6b0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220526_015430/traj_data.json @@ -0,0 +1,5812 @@ +{ + "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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"turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_34V1S5K3GVSAEXO2MYUEMPSBO3V96A", + "high_descs": [ + "Turn around then right and face the table to your right.", + "Take the red plate from the table in front of you.", + "Turn right and face the box on your right.", + "Place the red plate in the box in front of you.", + "Take the box with the plate in front of you.", + "Turn right, then right again and face the table to your left.", + "Place the box on top of the table in front of you." + ], + "task_desc": "Place a box with a plate on a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3HVVDCPGTHJVHW7MQNUNWGDGHJHYTN", + "high_descs": [ + "walk to face left end of white table", + "pick up red dish from table", + "walk to face shelves and box", + "put red dish into box on shelves", + "pick up box from shelves", + "walk to face right side of white table", + "put box on white table" + ], + "task_desc": "put a box with a red dish on a table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3LYA37P8ITE015OOMM2BNESJDXXBK4", + "high_descs": [ + "Turn left, turn left at the table, turn right at the TV, turn right to face the white table. ", + "Pick up the red container from the table. ", + "Turn right and walk to the open box to the left of the TV. ", + "Put the red container inside of the box. ", + "Pick up the box from the shelf. ", + "Turn right, turn right before the table, turn left to face the right side of the table. ", + "Put the box down on the table to the right of the box. " + ], + "task_desc": "To put a red container in a box, and put it on the table. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..79ea387c4f591ecf987682f1d9e62a2e0d923f20 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/initial_state.pddl @@ -0,0 +1,784 @@ + +(define (problem plan_trial_T20190908_220622_212249) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + 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+ loc_bar__minus_19_bar_13_bar_3_bar_60 - location + loc_bar__minus_16_bar_18_bar_0_bar_0 - location + loc_bar__minus_12_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_5_bar_3_bar_45 - location + loc_bar__minus_16_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_17_bar_0_bar_60 - location + loc_bar__minus_19_bar_18_bar_0_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_8_bar_9_bar_1_bar_60 - location + loc_bar__minus_23_bar_18_bar_0_bar_45 - location + loc_bar__minus_26_bar_18_bar_0_bar_45 - location + loc_bar__minus_24_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_30 - location + loc_bar__minus_12_bar_17_bar_0_bar_60 - location + loc_bar__minus_23_bar_2_bar_2_bar_30 - location + loc_bar__minus_19_bar_11_bar_3_bar_60 - location + loc_bar__minus_2_bar_11_bar_1_bar_45 - location + loc_bar__minus_26_bar_17_bar_0_bar_60 - location + loc_bar__minus_13_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_0 - location + loc_bar__minus_11_bar_18_bar_0_bar_30 - location + loc_bar__minus_25_bar_18_bar_0_bar_30 - location + loc_bar__minus_11_bar_5_bar_3_bar_45 - location + loc_bar__minus_14_bar_3_bar_2_bar_15 - location + loc_bar__minus_19_bar_7_bar_3_bar_60 - location + loc_bar__minus_26_bar_4_bar_0_bar_60 - location + loc_bar__minus_24_bar_17_bar_0_bar_60 - location + loc_bar__minus_2_bar_5_bar_1_bar_45 - location + loc_bar__minus_20_bar_18_bar_0_bar_0 - location + loc_bar__minus_4_bar_19_bar_0_bar_30 - location + loc_bar__minus_2_bar_14_bar_1_bar_45 - location + loc_bar__minus_2_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_19_bar_1_bar_60 - location + loc_bar__minus_13_bar_10_bar_0_bar_60 - location + loc_bar__minus_25_bar_17_bar_0_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_30 - location + loc_bar__minus_19_bar_18_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_2_bar_17_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_0_bar_60 - location + loc_bar__minus_12_bar_17_bar_0_bar_45 - location + loc_bar__minus_19_bar_10_bar_3_bar_45 - location + loc_bar__minus_18_bar_18_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_5_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_0 - location + loc_bar__minus_9_bar_18_bar_0_bar_45 - location + loc_bar__minus_17_bar_4_bar_1_bar_60 - location + loc_bar__minus_14_bar_17_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 CoffeeTableType) + (receptacleType Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 ShelfType) + (receptacleType ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 ShelfType) + (receptacleType Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 CabinetType) + (receptacleType 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(canContain GarbageCanType NewspaperType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType NewspaperType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType NewspaperType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain CabinetType NewspaperType) + (canContain CabinetType VaseType) + (canContain CabinetType BoxType) + (canContain CabinetType PlateType) + (canContain CoffeeTableType NewspaperType) + (canContain CoffeeTableType VaseType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType PlateType) + (canContain CoffeeTableType RemoteControlType) + (canContain 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(pickupable Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20) + (pickupable RemoteControl_bar__minus_02_dot_81_bar__plus_00_dot_30_bar__plus_01_dot_66) + (pickupable Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21) + (pickupable Statue_bar__minus_03_dot_85_bar__plus_00_dot_93_bar__plus_05_dot_17) + (pickupable Statue_bar__minus_00_dot_94_bar__plus_01_dot_28_bar__plus_00_dot_15) + (pickupable Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70) + (pickupable Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27) + (pickupable Vase_bar__minus_05_dot_71_bar__plus_00_dot_39_bar__plus_05_dot_14) + (pickupable Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23) + (pickupable KeyChain_bar__minus_06_dot_19_bar__plus_00_dot_64_bar__plus_02_dot_21) + (pickupable Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18) + (pickupable Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21) + (pickupable Vase_bar__minus_05_dot_54_bar__plus_00_dot_74_bar__plus_05_dot_17) + (pickupable Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79) + (pickupable Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19) + (pickupable Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31) + (pickupable Pillow_bar__minus_02_dot_93_bar__plus_00_dot_33_bar__plus_03_dot_52) + (pickupable CreditCard_bar__minus_03_dot_01_bar__plus_00_dot_30_bar__plus_02_dot_07) + (pickupable Laptop_bar__minus_02_dot_67_bar__plus_00_dot_30_bar__plus_02_dot_11) + (pickupable Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17) + (pickupable Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20) + (isReceptacleObject Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70) + (isReceptacleObject Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31) + (openable Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03) + (openable Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46) + (openable Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03) + (openable Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00) + (openable Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00) + (openable Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32) + (openable Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33) + (openable Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00) + (openable Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03) + (openable Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03) + (openable Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46) + (openable Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03) + (openable Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00) + (openable Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46) + + (atLocation agent1 loc_bar__minus_14_bar_17_bar_2_bar_30) + + (cleanable Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70) + + (heatable Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70) + (coolable Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70) + + + (toggleable FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99) + + + + + (inReceptacle Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18) + (inReceptacle Vase_bar__minus_05_dot_54_bar__plus_00_dot_74_bar__plus_05_dot_17 Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03) + (inReceptacle Statue_bar__minus_03_dot_85_bar__plus_00_dot_93_bar__plus_05_dot_17 Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17) + (inReceptacle Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Newspaper_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_27 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle KeyChain_bar__minus_06_dot_19_bar__plus_00_dot_64_bar__plus_02_dot_21 DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56) + (inReceptacle Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17) + (inReceptacle Pillow_bar__minus_02_dot_93_bar__plus_00_dot_33_bar__plus_03_dot_52 Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63) + (inReceptacle Vase_bar__minus_05_dot_71_bar__plus_00_dot_39_bar__plus_05_dot_14 Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17) + (inReceptacle Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17) + (inReceptacle Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19) + (inReceptacle Box_bar__minus_02_dot_36_bar__plus_00_dot_66_bar__plus_00_dot_31 Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27) + (inReceptacle Pillow_bar__minus_01_dot_52_bar__plus_00_dot_44_bar__plus_03_dot_32 ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31) + (inReceptacle CreditCard_bar__minus_03_dot_01_bar__plus_00_dot_30_bar__plus_02_dot_07 CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00) + (inReceptacle Laptop_bar__minus_02_dot_67_bar__plus_00_dot_30_bar__plus_02_dot_11 CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00) + (inReceptacle RemoteControl_bar__minus_02_dot_81_bar__plus_00_dot_30_bar__plus_01_dot_66 CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00) + (inReceptacle Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_00_dot_94_bar__plus_01_dot_28_bar__plus_00_dot_15 Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18) + (inReceptacle Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17) + (inReceptacle Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17) + + + (receptacleAtLocation ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 loc_bar__minus_8_bar_9_bar_1_bar_60) + (receptacleAtLocation ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 loc_bar__minus_7_bar_9_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 loc_bar__minus_5_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_9_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 loc_bar__minus_7_bar_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_11_bar_18_bar_0_bar_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 loc_bar__minus_16_bar_18_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 loc_bar__minus_18_bar_18_bar_0_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_23_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_25_bar_18_bar_0_bar_30) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 loc_bar__minus_12_bar_3_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 loc_bar__minus_17_bar_4_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_19_bar_13_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_7_bar_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_5_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_11_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_26_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_25_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 loc_bar__minus_24_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 loc_bar__minus_3_bar_3_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 loc_bar__minus_3_bar_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 loc_bar__minus_9_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_7_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 loc_bar__minus_5_bar_5_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_13_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 loc_bar__minus_16_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 loc_bar__minus_20_bar_18_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_24_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_26_bar_18_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation 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(objectAtLocation CreditCard_bar__minus_03_dot_01_bar__plus_00_dot_30_bar__plus_02_dot_07 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_02_dot_81_bar__plus_00_dot_30_bar__plus_01_dot_66 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_67_bar__plus_00_dot_30_bar__plus_02_dot_11 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_93_bar__plus_00_dot_33_bar__plus_03_dot_52 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 loc_bar__minus_2_bar_17_bar_1_bar_45) + (objectAtLocation Vase_bar__minus_05_dot_71_bar__plus_00_dot_39_bar__plus_05_dot_14 loc_bar__minus_24_bar_17_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_94_bar__plus_01_dot_28_bar__plus_00_dot_15 loc_bar__minus_3_bar_3_bar_2_bar_30) + (objectAtLocation HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 loc_bar__minus_2_bar_11_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 loc_bar__minus_3_bar_3_bar_2_bar_30) + (objectAtLocation Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_04_dot_96_bar__plus_00_dot_94_bar__plus_05_dot_20 loc_bar__minus_19_bar_18_bar_0_bar_45) + (objectAtLocation Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 loc_bar__minus_23_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 loc_bar__minus_2_bar_11_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 loc_bar__minus_2_bar_14_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 loc_bar__minus_2_bar_5_bar_1_bar_45) + (objectAtLocation 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(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-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/traj_data.json b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..797d429681c85c36a88dcc888746273e13606db8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220622_212249/traj_data.json @@ -0,0 +1,5658 @@ +{ + "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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Walk toward the coffee table and around the far side. Turn right at the end and walk toward the wall.", + "Pick up blue lid on shelf.", + "Turn right and walk to the box on the ledge.", + "Put blue lid in the box.", + "Pick up the box.", + "Turn right and walk to the table. At the table turn right and walk to the end of the table. At the end of the table, turn left and face the table. ", + "Put the box on the table." + ], + "task_desc": "Put blue lid in box and placed on kitchen table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_33OOO72IVKCIET6HUVCYZPLXEVYTC9", + "high_descs": [ + "walk to face shelves and box in living room", + "pick up blue dish from shelves", + "turn right to face box ", + "put dish into box", + "pick up box from shelves", + "walk to face white table", + "put box on the table" + ], + "task_desc": "put box with blue dish on table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_34BBWHLWHD21JDWBHADVXCQRVV3WI9", + "high_descs": [ + "Turn right, go forward, turn left before reaching the table, go forward past the couch, turn left, go forward to the chair, turn right, go forward to the shelf.", + "Take the blue vase from the shelf.", + "Go to the right where the box is.", + "Put the vase in the box.", + "Take the box from the white platform.", + "Turn right, go forward, turn right before reaching the table, go forward, turn left at the end of the table.", + "Put the box on the table to the right of the newspaper. " + ], + "task_desc": "Put a box with a blue vase in it on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220750_874409/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220750_874409/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1f144832235ec6c12a0a87b0a91b2949524ff01e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_and_place_with_movable_recep-Vase-Box-DiningTable-227/trial_T20190908_220750_874409/initial_state.pddl @@ -0,0 +1,799 @@ + +(define (problem plan_trial_T20190908_220750_874409) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Box_bar__minus_02_dot_74_bar__plus_00_dot_48_bar__plus_02_dot_23 - object + Chair_bar__minus_05_dot_38_bar__plus_00_dot_02_bar__plus_02_dot_70 - object + Chair_bar__minus_05_dot_39_bar__plus_00_dot_02_bar__plus_03_dot_37 - object + Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 - object + Chair_bar__minus_06_dot_21_bar__plus_00_dot_02_bar__plus_02_dot_52 - object + Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 - object + Chair_bar__minus_06_dot_30_bar__plus_00_dot_02_bar__plus_01_dot_67 - object + CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_49_bar__plus_00_dot_22 - object + FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99 - object + HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 - object + KeyChain_bar__minus_02_dot_89_bar__plus_00_dot_30_bar__plus_01_dot_93 - object + KeyChain_bar__minus_02_dot_89_bar__plus_00_dot_30_bar__plus_02_dot_07 - object + Laptop_bar__minus_02_dot_67_bar__plus_00_dot_30_bar__plus_01_dot_77 - object + Laptop_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_03_dot_27 - object + LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 - object + Newspaper_bar__minus_05_dot_69_bar__plus_00_dot_64_bar__plus_02_dot_56 - object + Painting_bar__minus_00_dot_97_bar__plus_01_dot_40_bar__plus_05_dot_27 - object + Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 - object + Pillow_bar__minus_02_dot_72_bar__plus_00_dot_33_bar__plus_03_dot_45 - object + Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70 - object + RemoteControl_bar__minus_03_dot_28_bar__plus_00_dot_75_bar__plus_05_dot_11 - object + RemoteControl_bar__minus_03_dot_93_bar__plus_00_dot_28_bar__plus_03_dot_66 - object + RemoteControl_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_62 - object + Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 - object + Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 - object + Statue_bar__minus_04_dot_77_bar__plus_00_dot_97_bar__plus_05_dot_17 - object + Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 - object + Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_03_dot_62 - object + Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 - object + Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 - object + Television_bar__minus_03_dot_50_bar__plus_01_dot_51_bar__plus_00_dot_00 - object + Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 - object + Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 - object + Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 - object + Vase_bar__minus_02_dot_16_bar__plus_00_dot_73_bar__plus_05_dot_17 - object + Vase_bar__minus_02_dot_75_bar__plus_01_dot_04_bar__plus_05_dot_14 - object + Vase_bar__minus_04_dot_31_bar__plus_01_dot_27_bar__plus_05_dot_17 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 - object + Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 - object + ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 - receptacle + ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 - receptacle + Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 - receptacle + Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 - receptacle + CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 - receptacle + CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 - receptacle + DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 - receptacle + Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 - receptacle + Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 - receptacle + Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 - receptacle + GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 - receptacle + Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 - receptacle + Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 - receptacle + Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 - receptacle + Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 - receptacle + Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 - receptacle + Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 - receptacle + loc_bar__minus_25_bar_17_bar_2_bar_60 - location + loc_bar__minus_9_bar_3_bar_2_bar_45 - location + loc_bar__minus_19_bar_13_bar_3_bar_60 - location + loc_bar__minus_16_bar_18_bar_0_bar_0 - location + loc_bar__minus_12_bar_3_bar_0_bar_60 - location + loc_bar__minus_5_bar_5_bar_3_bar_45 - location + loc_bar__minus_16_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_17_bar_0_bar_60 - location + loc_bar__minus_19_bar_18_bar_0_bar_30 - location + loc_bar__minus_2_bar_3_bar_2_bar_45 - location + loc_bar__minus_8_bar_9_bar_1_bar_60 - location + loc_bar__minus_23_bar_18_bar_0_bar_45 - location + loc_bar__minus_26_bar_18_bar_0_bar_45 - location + loc_bar__minus_24_bar_3_bar_3_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_30 - location + loc_bar__minus_12_bar_17_bar_0_bar_60 - location + loc_bar__minus_23_bar_2_bar_2_bar_30 - location + loc_bar__minus_19_bar_11_bar_3_bar_60 - location + loc_bar__minus_2_bar_11_bar_1_bar_45 - location + loc_bar__minus_26_bar_17_bar_0_bar_60 - location + loc_bar__minus_13_bar_18_bar_0_bar_45 - location + loc_bar__minus_7_bar_4_bar_2_bar_0 - location + loc_bar__minus_11_bar_18_bar_0_bar_30 - location + loc_bar__minus_25_bar_18_bar_0_bar_30 - location + loc_bar__minus_11_bar_5_bar_3_bar_45 - location + loc_bar__minus_14_bar_3_bar_2_bar_15 - location + loc_bar__minus_19_bar_7_bar_3_bar_60 - location + loc_bar__minus_26_bar_4_bar_0_bar_60 - location + loc_bar__minus_24_bar_17_bar_0_bar_60 - location + loc_bar__minus_2_bar_5_bar_1_bar_45 - location + loc_bar__minus_20_bar_18_bar_0_bar_0 - location + loc_bar__minus_4_bar_19_bar_0_bar_30 - location + loc_bar__minus_2_bar_14_bar_1_bar_45 - location + loc_bar__minus_2_bar_11_bar_3_bar_60 - location + loc_bar__minus_3_bar_19_bar_1_bar_60 - location + loc_bar__minus_13_bar_10_bar_0_bar_60 - location + loc_bar__minus_25_bar_17_bar_0_bar_45 - location + loc_bar__minus_5_bar_5_bar_3_bar_30 - location + loc_bar__minus_19_bar_18_bar_0_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_2_bar_17_bar_1_bar_45 - location + loc_bar__minus_7_bar_9_bar_0_bar_60 - location + loc_bar__minus_12_bar_17_bar_0_bar_45 - location + loc_bar__minus_19_bar_10_bar_3_bar_45 - location + loc_bar__minus_18_bar_18_bar_0_bar__minus_15 - location + loc_bar__minus_7_bar_5_bar_2_bar_60 - location + loc_bar__minus_3_bar_3_bar_2_bar_0 - location + loc_bar__minus_9_bar_18_bar_0_bar_45 - location + loc_bar__minus_17_bar_4_bar_1_bar_60 - location + loc_bar__minus_24_bar_18_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 CoffeeTableType) + (receptacleType Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 ShelfType) + (receptacleType ArmChair_bar__minus_01_dot_01_bar__plus_00_dot_02_bar__plus_02_dot_08 ArmChairType) + (receptacleType Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 ShelfType) + (receptacleType Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 ShelfType) + (receptacleType DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 DiningTableType) + (receptacleType Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (receptacleType Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 ShelfType) + (receptacleType Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 DrawerType) + (receptacleType Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 ShelfType) + (receptacleType Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 ShelfType) + (receptacleType Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 CabinetType) + (receptacleType Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_53_bar__plus_01_dot_87_bar__plus_00_dot_33 CabinetType) + (receptacleType Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 DrawerType) + (receptacleType Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 ShelfType) + (receptacleType Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 ShelfType) + (receptacleType Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 CabinetType) + (receptacleType Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 ShelfType) + (receptacleType Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 CabinetType) + (receptacleType GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 GarbageCanType) + (receptacleType ArmChair_bar__minus_01_dot_52_bar__plus_00_dot_02_bar__plus_03_dot_31 ArmChairType) + (receptacleType Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 CabinetType) + (receptacleType CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 CoffeeTableType) + (receptacleType Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 ShelfType) + (receptacleType Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 DrawerType) + (receptacleType Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 SofaType) + (receptacleType Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 DrawerType) + (objectType Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 ChairType) + (objectType RemoteControl_bar__minus_03_dot_28_bar__plus_00_dot_75_bar__plus_05_dot_11 RemoteControlType) + (objectType Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 StatueType) + (objectType Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70 PlateType) + (objectType Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 WindowType) + (objectType Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 ChairType) + (objectType Vase_bar__minus_04_dot_31_bar__plus_01_dot_27_bar__plus_05_dot_17 VaseType) + (objectType 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loc_bar__minus_5_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_9_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_02_bar__plus_01_dot_71_bar__plus_00_dot_32 loc_bar__minus_7_bar_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_11_bar_18_bar_0_bar_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_70_bar__plus_01_dot_71_bar__plus_05_dot_03 loc_bar__minus_16_bar_18_bar_0_bar_0) + (receptacleAtLocation Cabinet_bar__minus_04_dot_18_bar__plus_01_dot_87_bar__plus_05_dot_03 loc_bar__minus_18_bar_18_bar_0_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_05_dot_37_bar__plus_01_dot_17_bar__plus_05_dot_03 loc_bar__minus_23_bar_18_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_05_dot_85_bar__plus_01_dot_33_bar__plus_05_dot_03 loc_bar__minus_25_bar_18_bar_0_bar_30) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_67_bar__plus_00_dot_02_bar__plus_02_dot_00 loc_bar__minus_12_bar_3_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_03_dot_00_bar__plus_00_dot_02_bar__plus_01_dot_73 loc_bar__minus_17_bar_4_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_05_dot_82_bar__plus_00_dot_00_bar__plus_02_dot_56 loc_bar__minus_19_bar_13_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_09_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_7_bar_5_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_68_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_5_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_02_dot_94_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_12_bar_17_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_04_dot_26_bar__plus_00_dot_23_bar__plus_00_dot_46 loc_bar__minus_11_bar_5_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_51_bar__plus_05_dot_00 loc_bar__minus_26_bar_17_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_06_dot_33_bar__plus_00_dot_82_bar__plus_05_dot_00 loc_bar__minus_25_bar_17_bar_0_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_06_dot_86_bar__plus_00_dot_03_bar__plus_00_dot_22 loc_bar__minus_24_bar_3_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_00_dot_81_bar__plus_01_dot_69_bar__plus_00_dot_19 loc_bar__minus_3_bar_3_bar_2_bar_0) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_18 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_01_dot_04_bar__plus_01_dot_32_bar__plus_00_dot_18 loc_bar__minus_3_bar_3_bar_2_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_78_bar__plus_00_dot_99_bar__plus_00_dot_18 loc_bar__minus_9_bar_3_bar_2_bar_45) + (receptacleAtLocation Shelf_bar__minus_02_dot_22_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_7_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_02_dot_67_bar__plus_00_dot_61_bar__plus_00_dot_27 loc_bar__minus_5_bar_5_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_03_dot_19_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_13_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_03_dot_94_bar__plus_00_dot_99_bar__plus_05_dot_17 loc_bar__minus_16_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_00_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__minus_04_dot_67_bar__plus_01_dot_32_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_30) + (receptacleAtLocation Shelf_bar__minus_04_dot_90_bar__plus_01_dot_69_bar__plus_05_dot_17 loc_bar__minus_20_bar_18_bar_0_bar_0) + (receptacleAtLocation Shelf_bar__minus_05_dot_61_bar__plus_00_dot_45_bar__plus_05_dot_17 loc_bar__minus_24_bar_17_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__minus_06_dot_57_bar__plus_01_dot_15_bar__plus_05_dot_17 loc_bar__minus_26_bar_18_bar_0_bar_45) + (receptacleAtLocation Sofa_bar__minus_03_dot_33_bar__plus_00_dot_02_bar__plus_03_dot_63 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_67_bar__plus_00_dot_30_bar__plus_01_dot_77 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_03_dot_28_bar__plus_00_dot_75_bar__plus_05_dot_11 loc_bar__minus_12_bar_17_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_89_bar__plus_00_dot_30_bar__plus_01_dot_93 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__minus_05_dot_94_bar__plus_00_dot_64_bar__plus_03_dot_62 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_41_bar__plus_00_dot_02_bar__plus_01_dot_78 loc_bar__minus_19_bar_7_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_05_dot_39_bar__plus_00_dot_02_bar__plus_03_dot_37 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Box_bar__minus_02_dot_74_bar__plus_00_dot_48_bar__plus_02_dot_23 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_21_bar__plus_00_dot_02_bar__plus_02_dot_52 loc_bar__minus_19_bar_10_bar_3_bar_45) + (objectAtLocation Chair_bar__minus_05_dot_38_bar__plus_00_dot_02_bar__plus_02_dot_70 loc_bar__minus_19_bar_11_bar_3_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_25_bar__plus_00_dot_02_bar__plus_03_dot_43 loc_bar__minus_25_bar_17_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_06_dot_30_bar__plus_00_dot_02_bar__plus_01_dot_67 loc_bar__minus_26_bar_4_bar_0_bar_60) + (objectAtLocation Statue_bar__minus_06_dot_59_bar__plus_01_dot_02_bar__plus_05_dot_17 loc_bar__minus_26_bar_18_bar_0_bar_45) + (objectAtLocation KeyChain_bar__minus_02_dot_89_bar__plus_00_dot_30_bar__plus_02_dot_07 loc_bar__minus_12_bar_3_bar_0_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_70_bar__plus_00_dot_93_bar__plus_00_dot_18 loc_bar__minus_9_bar_3_bar_2_bar_45) + (objectAtLocation FloorLamp_bar__minus_00_dot_37_bar__plus_00_dot_03_bar__plus_04_dot_99 loc_bar__minus_3_bar_19_bar_1_bar_60) + (objectAtLocation Television_bar__minus_03_dot_50_bar__plus_01_dot_51_bar__plus_00_dot_00 loc_bar__minus_14_bar_3_bar_2_bar_15) + (objectAtLocation Vase_bar__minus_00_dot_76_bar__plus_00_dot_94_bar__plus_00_dot_20 loc_bar__minus_2_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_02_dot_16_bar__plus_00_dot_73_bar__plus_05_dot_17 loc_bar__minus_9_bar_18_bar_0_bar_45) + (objectAtLocation Newspaper_bar__minus_05_dot_69_bar__plus_00_dot_64_bar__plus_02_dot_56 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_03_dot_85_bar__plus_00_dot_49_bar__plus_00_dot_22 loc_bar__minus_5_bar_5_bar_3_bar_30) + (objectAtLocation RemoteControl_bar__minus_03_dot_93_bar__plus_00_dot_28_bar__plus_03_dot_66 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_06_dot_06_bar__plus_00_dot_64_bar__plus_03_dot_27 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_02_dot_72_bar__plus_00_dot_33_bar__plus_03_dot_45 loc_bar__minus_13_bar_10_bar_0_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_00_bar__plus_01_dot_19_bar__plus_04_dot_41 loc_bar__minus_2_bar_17_bar_1_bar_45) + (objectAtLocation Vase_bar__minus_04_dot_31_bar__plus_01_dot_27_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_30) + (objectAtLocation Statue_bar__minus_05_dot_82_bar__plus_00_dot_65_bar__plus_03_dot_62 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation HousePlant_bar__minus_01_dot_11_bar__plus_00_dot_31_bar__plus_02_dot_74 loc_bar__minus_2_bar_11_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_01_dot_35_bar__plus_01_dot_26_bar__plus_00_dot_23 loc_bar__minus_3_bar_3_bar_2_bar_30) + (objectAtLocation Plate_bar__minus_05_dot_57_bar__plus_00_dot_63_bar__plus_01_dot_70 loc_bar__minus_19_bar_13_bar_3_bar_60) + (objectAtLocation Vase_bar__minus_02_dot_75_bar__plus_01_dot_04_bar__plus_05_dot_14 loc_bar__minus_11_bar_18_bar_0_bar_30) + (objectAtLocation Painting_bar__minus_05_dot_77_bar__plus_01_dot_40_bar__minus_00_dot_03 loc_bar__minus_23_bar_2_bar_2_bar_30) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_02_dot_47 loc_bar__minus_2_bar_11_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_03_dot_56 loc_bar__minus_2_bar_14_bar_1_bar_45) + (objectAtLocation Window_bar__plus_00_dot_00_bar__plus_01_dot_25_bar__plus_01_dot_37 loc_bar__minus_2_bar_5_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_97_bar__plus_01_dot_40_bar__plus_05_dot_27 loc_bar__minus_4_bar_19_bar_0_bar_30) + (objectAtLocation Statue_bar__minus_05_dot_03_bar__plus_01_dot_57_bar__plus_05_dot_21 loc_bar__minus_20_bar_18_bar_0_bar_0) + (objectAtLocation Statue_bar__minus_00_dot_81_bar__plus_01_dot_57_bar__plus_00_dot_21 loc_bar__minus_3_bar_3_bar_2_bar_0) + (objectAtLocation Statue_bar__minus_04_dot_77_bar__plus_00_dot_97_bar__plus_05_dot_17 loc_bar__minus_19_bar_18_bar_0_bar_45) + (objectAtLocation Statue_bar__minus_03_dot_17_bar__plus_01_dot_11_bar__plus_05_dot_19 loc_bar__minus_13_bar_18_bar_0_bar_45) + (objectAtLocation Statue_bar__minus_05_dot_87_bar__plus_00_dot_63_bar__plus_02_dot_79 loc_bar__minus_19_bar_13_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (and + (receptacleType ?r DiningTableType) + (exists (?o - object) + (and + (objectType ?o VaseType) + (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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], + "task_desc": "Place a box with a bottle on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3SITXWYCNY06L5NVL5H0D80L96DXBG", + "high_descs": [ + "Turn to the left and go forward. Turn left again and face the white cabinet. ", + "Open the cabinet and take out the good plate. Shut the cabinet. ", + "Turn around and go to the right. Go forward then go around the couch to the left. Turn right to face the coffee table. ", + "Place the plate inside the box on the coffee table. ", + "Pick up the box from the coffee table. ", + "Turn to the right and go forward to the other table. ", + "Place the box and plate on the table. " + ], + "task_desc": "Move a box and plate to the coffee table. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_326O153BMLPQU2UY4WIEK93EWMZEDI", + "high_descs": [ + "Turn left then face the cabinet on your left.", + "Open the cabinet in front of you, take the golden piece inside and close the cabinet.", + "Turn left, then left again around the couch and face the round center table with the box on your right.", + "Place the golden piece in the box on the table in front of you.", + "Take the box with the golden piece from the table in front of you.", + "Turn right and face the white table in front of you.", + "Place the box with the golden piece on the table in front of you." + ], + "task_desc": "Place box with golden piece on the white table.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..89fb4a7d584348409d4fbcdf4ac13ff48b957475 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some butterknife and put it in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_062827_740259)\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_68_bar__plus_00_dot_85_bar__plus_02_dot_53 - object\n Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58 - object\n Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91 - object\n Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 - object\n Bowl_bar__plus_02_dot_11_bar__plus_01_dot_32_bar__minus_00_dot_55 - object\n Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55 - object\n Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81 - object\n ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 - object\n ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_75_bar__plus_01_dot_99 - object\n DishSponge_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81 - object\n Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 - object\n Knife_bar__minus_00_dot_27_bar__plus_00_dot_82_bar__plus_01_dot_22 - object\n Knife_bar__minus_00_dot_28_bar__plus_00_dot_96_bar__plus_02_dot_62 - object\n Ladle_bar__plus_00_dot_71_bar__plus_00_dot_13_bar__plus_02_dot_52 - object\n Ladle_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_02_dot_06 - object\n Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55 - object\n Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 - object\n PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10 - object\n Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28 - object\n Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86 - object\n Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 - object\n Pot_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n Pot_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 - object\n SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_50 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_08_bar__plus_00_dot_37 - object\n SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_50_bar__plus_02_dot_88 - object\n SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Spatula_bar__plus_01_dot_99_bar__plus_00_dot_76_bar__plus_02_dot_20 - object\n Spoon_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_58 - object\n Spoon_bar__minus_00_dot_03_bar__plus_00_dot_75_bar__plus_01_dot_99 - object\n Spoon_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_02_dot_02_bar__plus_01_dot_57_bar__minus_00_dot_10 - object\n WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_71 - object\n WineBottle_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_83 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle\n Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle\n Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle\n Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle\n loc_bar_5_bar_1_bar_1_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_30 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar_7_bar_1_bar__minus_30 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_5_bar_7_bar_0_bar__minus_30 - location\n loc_bar_4_bar_3_bar_1_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar_8_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_5_bar__minus_2_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (objectType Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 BowlType)\n (objectType SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_50 SaltShakerType)\n (objectType Fork_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 ForkType)\n (objectType Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86 PotatoType)\n (objectType Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28 PotatoType)\n (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType)\n (objectType Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81 BreadType)\n (objectType SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 SoapBottleType)\n (objectType Spoon_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 SpoonType)\n (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType)\n (objectType Pot_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 PotType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType)\n (objectType 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Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61)\n (cleanable ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38)\n (cleanable Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52)\n (cleanable Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91)\n (cleanable Ladle_bar__plus_00_dot_71_bar__plus_00_dot_13_bar__plus_02_dot_52)\n (cleanable Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55)\n (cleanable Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01)\n (cleanable Knife_bar__minus_00_dot_28_bar__plus_00_dot_96_bar__plus_02_dot_62)\n \n (heatable Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86)\n (heatable Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28)\n (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81)\n (heatable Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55)\n (heatable Tomato_bar__plus_02_dot_02_bar__plus_01_dot_57_bar__minus_00_dot_10)\n (heatable Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10)\n (heatable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (heatable Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46)\n (heatable Apple_bar__plus_00_dot_68_bar__plus_00_dot_85_bar__plus_02_dot_53)\n (heatable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58)\n (heatable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81)\n (heatable Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91)\n (heatable Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01)\n (coolable Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10)\n (coolable Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86)\n (coolable Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28)\n (coolable 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Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81)\n (coolable WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_71)\n (coolable Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61)\n (coolable Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52)\n (coolable Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91)\n (coolable WineBottle_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_83)\n (coolable Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55)\n (coolable Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86)\n (sliceable Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28)\n (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81)\n (sliceable Tomato_bar__plus_02_dot_02_bar__plus_01_dot_57_bar__minus_00_dot_10)\n (sliceable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (sliceable Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46)\n (sliceable Apple_bar__plus_00_dot_68_bar__plus_00_dot_85_bar__plus_02_dot_53)\n (sliceable Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58)\n (sliceable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81)\n (sliceable Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61)\n (sliceable Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91)\n \n (inReceptacle Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87)\n (inReceptacle SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_08_bar__plus_00_dot_37 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87)\n (inReceptacle Spoon_bar__minus_00_dot_03_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle WineBottle_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_83 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_02_dot_06 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_28_bar__plus_00_dot_96_bar__plus_02_dot_62 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_50_bar__plus_02_dot_88 Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62)\n (inReceptacle Pot_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle Ladle_bar__plus_00_dot_71_bar__plus_00_dot_13_bar__plus_02_dot_52 Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle Spoon_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_58 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Fork_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle DishSponge_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Pot_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__minus_00_dot_27_bar__plus_00_dot_82_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Spatula_bar__plus_01_dot_99_bar__plus_00_dot_76_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Bowl_bar__plus_02_dot_11_bar__plus_01_dot_32_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Tomato_bar__plus_02_dot_02_bar__plus_01_dot_57_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80)\n (inReceptacle Apple_bar__plus_00_dot_68_bar__plus_00_dot_85_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n (inReceptacle Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01 Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_75_bar__plus_01_dot_99 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_27_bar__plus_00_dot_82_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__plus_00_dot_03_bar__plus_00_dot_78_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_50_bar__plus_02_dot_88 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_11_bar__plus_01_dot_32_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_08_bar__plus_00_dot_37 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_71_bar__plus_00_dot_13_bar__plus_02_dot_52 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation Ladle_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_02_dot_06 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_00_dot_06_bar__plus_00_dot_94_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_99_bar__plus_00_dot_76_bar__plus_02_dot_20 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_28_bar__plus_00_dot_96_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_02_bar__plus_01_dot_57_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_00_dot_68_bar__plus_00_dot_85_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_75_bar__plus_01_dot_99 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ButterKnifeType)\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 butterknife 2 from diningtable 1", "go to sinkbasin 1", "clean butterknife 2 with sinkbasin 1", "go to diningtable 1", "move butterknife 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..466c1b0da1ef2c75738e27d169c31c1ce0c2381c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/initial_state.pddl @@ -0,0 +1,985 @@ + +(define (problem plan_trial_T20190907_062827_740259) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_68_bar__plus_00_dot_85_bar__plus_02_dot_53 - object + Apple_bar__plus_01_dot_84_bar__plus_00_dot_99_bar__plus_00_dot_58 - object + Apple_bar__minus_00_dot_36_bar__plus_01_dot_09_bar__plus_01_dot_91 - object + Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 - object + Bowl_bar__plus_02_dot_11_bar__plus_01_dot_32_bar__minus_00_dot_55 - object + Bowl_bar__plus_02_dot_12_bar__plus_00_dot_60_bar__minus_00_dot_55 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_00_dot_81 - object + ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_01_dot_88_bar__plus_00_dot_75_bar__plus_01_dot_99 - object + DishSponge_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_81 - object + Egg_bar__plus_02_dot_23_bar__plus_01_dot_56_bar__minus_00_dot_46 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__minus_00_dot_04_bar__plus_00_dot_78_bar__plus_00_dot_71 - object + Knife_bar__minus_00_dot_27_bar__plus_00_dot_82_bar__plus_01_dot_22 - object + Knife_bar__minus_00_dot_28_bar__plus_00_dot_96_bar__plus_02_dot_62 - object + Ladle_bar__plus_00_dot_71_bar__plus_00_dot_13_bar__plus_02_dot_52 - object + Ladle_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_02_dot_06 - object + Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55 - object + Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 - object + PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10 - object + Potato_bar__plus_02_dot_25_bar__plus_00_dot_64_bar__minus_00_dot_28 - object + Potato_bar__minus_00_dot_36_bar__plus_00_dot_08_bar__minus_00_dot_86 - object + Pot_bar__plus_01_dot_16_bar__plus_00_dot_08_bar__plus_02_dot_52 - object + Pot_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + Pot_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_50 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__plus_01_dot_85_bar__plus_00_dot_08_bar__plus_00_dot_37 - object + SoapBottle_bar__plus_01_dot_88_bar__plus_01_dot_50_bar__plus_02_dot_88 - object + SoapBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Spatula_bar__plus_01_dot_99_bar__plus_00_dot_76_bar__plus_02_dot_20 - object + Spoon_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_58 - object + Spoon_bar__minus_00_dot_03_bar__plus_00_dot_75_bar__plus_01_dot_99 - object + Spoon_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + 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loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_5_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType 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ButterKnife_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_87_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_01 loc_bar_2_bar_8_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Plate_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_03_bar__plus_00_dot_75_bar__plus_01_dot_99 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Bowl_bar__plus_02_dot_08_bar__plus_00_dot_60_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ButterKnifeType) + (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-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062827_740259/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..9db3365cc0d7d587a6a25d5039d1291c5c4b098b --- /dev/null +++ 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"scene_num": 27 + }, + "task_id": "trial_T20190907_062827_740259", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3WQ3B2KGEBXQAFG4I47CHDCIAQB1B6", + "high_descs": [ + "turn right, walk to the white table on the left", + "grab the knife on the table", + "turn right, walk to the sink on the left", + "put the knife in the sink, wash the knife, take the knife out", + "turn around, walk to the white table", + "put the knife down on the white table by the wine bottle" + ], + "task_desc": "wash the knife from the white table, put it back on the white table", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2M7VEYAS1405L_3ZPBJO59KSIUTNZ2YP134QGPUWXDHU", + "high_descs": [ + "turn right, and advance to just before the stove. Stop, turn left, and advance to the table, stopping in front of the knife on the left-hand side of the table", + "take the knife from the table", + "turn around and cross the room to the sink", + "place the knife in the right-hand sink, rinse the knife, and pick the knife back up", + "turn around and return to in front of the rectangular table", + "place the knife to the right of the wine bottle" + ], + "task_desc": "Place a wet knife on the table", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_30H4UDGLT5ZPAY33UV8BWP5APZ6MPT", + "high_descs": [ + "turn right and walk past the fridge on your right, then turn left and walk over to the white table at the end of the room", + "grab a butter knife off of the table there", + "move over to the sink on the right side of the room at the end of the room", + "place the knife inside the sink and clean it off, then take it back out again", + "turn around and head over to the kitchen table on the right side of the room", + "place the knife down on the kitchen table" + ], + "task_desc": "place a clean knife on the kitchen table", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3OONKJ5DKF0B67N5O65NT9PQ35DOBG", + "high_descs": [ + "Walk forward to the table with the football on it.", + "Pick up the knife to the left of the bottle on the table.", + "Turn right and walk to the sink on the right.", + "Rinse the knife in the sink on the right and then pick up the knife from the sink.", + "Turn around and walk to the table with the football on it.", + "Place the knife to the right of the bottle on the table." + ], + "task_desc": "Place a clean knife on the table with the football on it.", + "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-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2ad09bfff8065b614ff76bd86b880011158a1c7f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/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 butterknife in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_062853_238120)\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_07_bar__plus_00_dot_99_bar__plus_02_dot_26 - object\n Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 - object\n Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96 - object\n Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 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Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06 - object\n Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72 - object\n Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 - object\n Ladle_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 - object\n Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55 - object\n Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20 - object\n Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56 - object\n Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05 - object\n Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45 - object\n Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_01_dot_87 - object\n PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 - object\n Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06 - object\n Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19 - object\n Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05 - object\n Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_45 - object\n SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_81 - object\n SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_36 - object\n Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87 - object\n Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45 - object\n Spoon_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_92 - object\n Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22 - object\n Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19 - object\n WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60 - object\n WineBottle_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_73 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle\n Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle\n Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle\n Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle\n loc_bar_5_bar_1_bar_1_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_30 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar_7_bar_1_bar__minus_30 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_5_bar_7_bar_0_bar__minus_30 - location\n loc_bar_4_bar_3_bar_1_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar_8_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_5_bar__minus_1_bar_1_bar_45 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (objectType Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06 EggType)\n (objectType PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 PepperShakerType)\n (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType)\n (objectType Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20 LadleType)\n (objectType Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 SpoonType)\n (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType)\n (objectType Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55 LadleType)\n (objectType Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45 SpatulaType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType)\n (objectType Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05 MugType)\n (objectType SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_81 SoapBottleType)\n (objectType Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 CurtainsType)\n (objectType 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Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06 ForkType)\n (objectType Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 PotType)\n (objectType WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60 WineBottleType)\n (objectType Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 ChairType)\n (objectType Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 BowlType)\n (objectType Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19 TomatoType)\n (objectType Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05 PotatoType)\n (objectType Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 CupType)\n (objectType Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56 MugType)\n (objectType Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 BreadType)\n (objectType Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87 SpatulaType)\n 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Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle 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loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 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Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96 loc_bar_2_bar_8_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (objectAtLocation Spoon_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_92 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_93 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_02_dot_13 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_45 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_73 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (objectAtLocation Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_01_dot_87 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_07_bar__plus_00_dot_94_bar__plus_01_dot_96 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ButterKnifeType)\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 butterknife 2 from diningtable 1", "go to sinkbasin 1", "clean butterknife 2 with sinkbasin 1", "go to diningtable 1", "move butterknife 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d90f00f2a9f52316a778be10b307aa345427f04c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190907_062853_238120/initial_state.pddl @@ -0,0 +1,978 @@ + +(define (problem plan_trial_T20190907_062853_238120) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_07_bar__plus_00_dot_99_bar__plus_02_dot_26 - object + Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 - object + Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96 - object + Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_93 - object + DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_02_dot_13 - object + DishSponge_bar__plus_02_dot_07_bar__plus_00_dot_94_bar__plus_01_dot_96 - object + Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06 - object + Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72 - object + Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 - object + Ladle_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38 - object + Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55 - object + Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20 - object + Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56 - object + Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05 - object + Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45 - object + Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_01_dot_87 - object + PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06 - object + Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19 - object + Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_45 - object + SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_81 - object + SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_36 - object + Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87 - object + Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45 - object + Spoon_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_92 - object + Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19 - object + WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60 - object + WineBottle_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_73 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_5_bar__minus_1_bar_1_bar_45 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + 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ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58) + (pickupable SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_45) + (pickupable Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45) + (pickupable SaltShaker_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88) + (pickupable Ladle_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38) + (pickupable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + (pickupable Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72) + (isReceptacleObject Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05) + (isReceptacleObject Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96) + (isReceptacleObject Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06) + (isReceptacleObject Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (isReceptacleObject Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37) + (isReceptacleObject Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22) + (isReceptacleObject Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56) + (isReceptacleObject Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (isReceptacleObject Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19) + (isReceptacleObject Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77) + (openable Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89) + (openable Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36) + (openable Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (openable Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (openable Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87) + (openable Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (openable Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77) + (openable Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87) + (openable Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (openable Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36) + (openable Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08) + + (atLocation agent1 loc_bar_4_bar_7_bar_0_bar_30) + + (cleanable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06) + (cleanable Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20) + (cleanable Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22) + (cleanable Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55) + (cleanable Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45) + (cleanable Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05) + (cleanable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22) + (cleanable Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26) + (cleanable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05) + (cleanable DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_02_dot_13) + (cleanable ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_38) + (cleanable Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96) + (cleanable Spoon_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_92) + (cleanable Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06) + (cleanable Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06) + (cleanable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37) + (cleanable Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19) + (cleanable Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05) + (cleanable Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22) + (cleanable Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56) + (cleanable Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87) + (cleanable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (cleanable DishSponge_bar__plus_02_dot_07_bar__plus_00_dot_94_bar__plus_01_dot_96) + (cleanable DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_93) + (cleanable Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39) + (cleanable Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19) + (cleanable ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58) + (cleanable Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45) + (cleanable Ladle_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_38) + (cleanable Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72) + + (heatable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06) + (heatable Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05) + (heatable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22) + (heatable Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26) + (heatable Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06) + (heatable Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19) + (heatable Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05) + (heatable Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22) + (heatable Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56) + (heatable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (heatable Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19) + (heatable Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45) + (heatable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + (coolable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06) + (coolable Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05) + (coolable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22) + (coolable Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26) + (coolable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05) + (coolable Bowl_bar__minus_00_dot_33_bar__plus_01_dot_03_bar__plus_01_dot_96) + (coolable Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06) + (coolable WineBottle_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_73) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60) + (coolable Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37) + (coolable Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19) + (coolable Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05) + (coolable Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22) + (coolable Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56) + (coolable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (coolable Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50) + (coolable Plate_bar__plus_02_dot_16_bar__plus_00_dot_61_bar__minus_00_dot_19) + (coolable Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45) + (coolable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + + + + + + (sliceable Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06) + (sliceable Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22) + (sliceable Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26) + (sliceable Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05) + (sliceable Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19) + (sliceable Potato_bar__minus_00_dot_20_bar__plus_00_dot_83_bar__plus_01_dot_05) + (sliceable Bread_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_10) + (sliceable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81) + + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_06 Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35) + (inReceptacle DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_02_dot_13 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle DishSponge_bar__plus_00_dot_00_bar__plus_00_dot_75_bar__plus_01_dot_93 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Spatula_bar__plus_01_dot_92_bar__plus_00_dot_95_bar__plus_01_dot_87 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Egg_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_02_dot_06 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Apple_bar__plus_02_dot_07_bar__plus_00_dot_99_bar__plus_02_dot_26 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle DishSponge_bar__plus_02_dot_07_bar__plus_00_dot_94_bar__plus_01_dot_96 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Mug_bar__minus_00_dot_27_bar__plus_00_dot_93_bar__plus_02_dot_45 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle Ladle_bar__plus_00_dot_06_bar__plus_00_dot_98_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_01_dot_87 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67) + (inReceptacle WineBottle_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_73 Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62) + (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50) + (inReceptacle SaltShaker_bar__plus_01_dot_23_bar__plus_00_dot_08_bar__plus_02_dot_45 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Mug_bar__plus_01_dot_09_bar__plus_00_dot_08_bar__plus_02_dot_56 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle WineBottle_bar__plus_00_dot_64_bar__plus_00_dot_08_bar__plus_02_dot_60 Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Spatula_bar__plus_01_dot_98_bar__plus_00_dot_76_bar__plus_00_dot_45 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle Knife_bar__plus_01_dot_84_bar__plus_00_dot_77_bar__plus_00_dot_72 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58) + (inReceptacle Mug_bar__plus_02_dot_24_bar__plus_01_dot_94_bar__plus_01_dot_05 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89) + (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle SoapBottle_bar__plus_01_dot_84_bar__plus_00_dot_94_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle SoapBottle_bar__plus_01_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58) + (inReceptacle Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Knife_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_01_dot_39 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DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_92 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Fork_bar__plus_01_dot_99_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Ladle_bar__plus_01_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Bowl_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Tomato_bar__plus_02_dot_23_bar__plus_01_dot_57_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle 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{ + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_a2d86e36", + "position": { + "x": 1.91749084, + "y": 0.9383421, + "z": 0.5837 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_a2dda372", + "position": { + "x": 1.85448289, + "y": 0.9379, + "z": 1.497 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1fe08306", + "position": { + "x": -0.0429645181, + "y": 0.785966754, + "z": 0.545271635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7054e289", + "position": { + "x": -0.196089536, + "y": 0.7892291, + "z": 1.21792817 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6b8b37c4", + "position": { + "x": 0.00205624476, + "y": 0.746357441, + "z": 1.92550552 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_922e45ca", + "position": { + "x": 2.16475749, + "y": 0.606585562, + "z": -0.188374937 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9b26f0a9", + "position": { + "x": 1.95469666, + "y": 0.7479364, + "z": 1.92287481 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5c2a3ea2", + "position": { + "x": 2.243624, + "y": 1.94395816, + "z": 1.05008936 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_dbaf3456", + "position": { + "x": -0.328524143, + "y": 1.0325377, + "z": 1.96106243 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2380984588, + "scene_num": 27 + }, + "task_id": "trial_T20190907_062853_238120", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A35P2RX8HKZM96_39PAAFCODPH6SDQJP4IMOVPK5XYVTN", + "high_descs": [ + "Turn around and walk to the table on the right.", + "Pick up the knife on the table.", + "Turn left and walk to the sink.", + "Place the knife in the sink, turn the water on, then turn it off.", + "Turn around and walk back to the table on the right.", + "Place the knife back on the table." + ], + "task_desc": "Place a rinsed knife on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3DBQWDE4Y9FRZ66KMHEXBYPT3TVN5W", + "high_descs": [ + "Turn around left and walk up to the rectangular white table", + "Pick up the butter knife from the table", + "Turn right and walk up to the kitchen sink", + "Wash the knife under water in the sink then remove it", + "Turn around and walk back to the white table", + "Put the knife down on the table by the vegetables" + ], + "task_desc": "Put the washed knife on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3K3R2QNK8EKNVJS5M83019MPXJFU9Q", + "high_descs": [ + "Turn around and walk towards the white table on your right.", + "Pick up the knife on the table.", + "Turn around and walk towards the sinks.", + "Place the knife in the right sink, wash it, and pick it back up.", + "Turn around and walk towards the white table on your right.", + "Place the knife in front of the bread on the table." + ], + "task_desc": "Wash the knife on the white table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f24df9b429eecdc66daf5a0cbc2f0d9ca50a7727 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/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 butterknife 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_T20190912_063708_012838)\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_92_bar__plus_00_dot_99_bar__plus_00_dot_36 - object\n Apple_bar__minus_00_dot_30_bar__plus_00_dot_09_bar__minus_00_dot_77 - object\n Bowl_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_01 - object\n Bowl_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_76 - object\n Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 - object\n Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object\n ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__plus_01_dot_44_bar__plus_00_dot_08_bar__plus_02_dot_45 - object\n Cup_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_02_dot_26 - object\n Cup_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_74 - object\n Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_53 - object\n Egg_bar__plus_01_dot_95_bar__plus_01_dot_37_bar__minus_00_dot_37 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 - object\n Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n Knife_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_71 - object\n Ladle_bar__plus_01_dot_81_bar__plus_01_dot_55_bar__plus_02_dot_81 - object\n Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_02_dot_20 - object\n Ladle_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_22 - object\n Lettuce_bar__plus_02_dot_16_bar__plus_00_dot_66_bar__minus_00_dot_10 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__plus_02_dot_28_bar__plus_01_dot_51_bar__minus_00_dot_10 - object\n Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 - object\n PepperShaker_bar__plus_00_dot_03_bar__plus_00_dot_08_bar__plus_02_dot_13 - object\n PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_44 - object\n PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object\n Potato_bar__plus_01_dot_22_bar__plus_00_dot_84_bar__plus_02_dot_53 - object\n Potato_bar__plus_02_dot_11_bar__plus_01_dot_36_bar__minus_00_dot_55 - object\n Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_11 - object\n SaltShaker_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_45 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 - object\n SoapBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_39 - object\n Spatula_bar__plus_02_dot_15_bar__plus_00_dot_95_bar__plus_02_dot_26 - object\n Spoon_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 - object\n Spoon_bar__plus_01_dot_94_bar__plus_00_dot_75_bar__plus_00_dot_65 - object\n Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__plus_00_dot_81 - object\n WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_02_dot_90 - object\n WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_02_dot_06 - object\n WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - 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location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_0_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n 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(receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 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Spatula_bar__plus_02_dot_15_bar__plus_00_dot_95_bar__plus_02_dot_26 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__plus_01_dot_81_bar__plus_01_dot_55_bar__plus_02_dot_81 Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62)\n (inReceptacle Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_11 StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11)\n (inReceptacle Cup_bar__plus_01_dot_44_bar__plus_00_dot_08_bar__plus_02_dot_45 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle SaltShaker_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_45 Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle Bowl_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_76 Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87)\n (inReceptacle Spoon_bar__plus_01_dot_94_bar__plus_00_dot_75_bar__plus_00_dot_65 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Apple_bar__plus_01_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Tomato_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_44 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Ladle_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Fork_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Lettuce_bar__plus_02_dot_16_bar__plus_00_dot_66_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Potato_bar__plus_02_dot_11_bar__plus_01_dot_36_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Bowl_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Egg_bar__plus_01_dot_95_bar__plus_01_dot_37_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Mug_bar__plus_02_dot_28_bar__plus_01_dot_51_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Apple_bar__minus_00_dot_30_bar__plus_00_dot_09_bar__minus_00_dot_77 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80)\n (inReceptacle Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Knife_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_71 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_01_dot_22_bar__plus_00_dot_84_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_76 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_94_bar__plus_00_dot_75_bar__plus_00_dot_65 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_03_bar__plus_00_dot_08_bar__plus_02_dot_13 loc_bar_4_bar_7_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_02_dot_90 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_01_dot_22_bar__plus_00_dot_84_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_81_bar__plus_01_dot_55_bar__plus_02_dot_81 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_95_bar__plus_01_dot_37_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_44 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_02_dot_26 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_02_dot_06 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_16_bar__plus_00_dot_66_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_02_dot_20 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_45 loc_bar_4_bar_6_bar_0_bar_60)\n (objectAtLocation Potato_bar__plus_02_dot_11_bar__plus_01_dot_36_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_02_dot_15_bar__plus_00_dot_95_bar__plus_02_dot_26 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_71 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_30_bar__plus_00_dot_09_bar__minus_00_dot_77 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_44_bar__plus_00_dot_08_bar__plus_02_dot_45 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_74 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_28_bar__plus_01_dot_51_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_01 loc_bar_5_bar__minus_1_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ButterKnifeType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take butterknife 1 from countertop 1", "go to sinkbasin 1", "clean butterknife 1 with sinkbasin 1", "go to diningtable 1", "move butterknife 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-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fa446b74085c9ad4949526e6e8cfdc773f25f58f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-ButterKnife-None-DiningTable-27/trial_T20190912_063708_012838/initial_state.pddl @@ -0,0 +1,989 @@ + +(define (problem plan_trial_T20190912_063708_012838) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_99_bar__plus_00_dot_36 - object + Apple_bar__minus_00_dot_30_bar__plus_00_dot_09_bar__minus_00_dot_77 - object + Bowl_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_01 - object + Bowl_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_76 - object + Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_58 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_01_dot_44_bar__plus_00_dot_08_bar__plus_02_dot_45 - object + Cup_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_02_dot_26 - object + Cup_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_74 - object + Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_53 - object + Egg_bar__plus_01_dot_95_bar__plus_01_dot_37_bar__minus_00_dot_37 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + Knife_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_71 - object + Ladle_bar__plus_01_dot_81_bar__plus_01_dot_55_bar__plus_02_dot_81 - object + Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_02_dot_20 - object + Ladle_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_22 - object + Lettuce_bar__plus_02_dot_16_bar__plus_00_dot_66_bar__minus_00_dot_10 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_02_dot_28_bar__plus_01_dot_51_bar__minus_00_dot_10 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 - object + PepperShaker_bar__plus_00_dot_03_bar__plus_00_dot_08_bar__plus_02_dot_13 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_44 - object + PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 - object + Potato_bar__plus_01_dot_22_bar__plus_00_dot_84_bar__plus_02_dot_53 - object + Potato_bar__plus_02_dot_11_bar__plus_01_dot_36_bar__minus_00_dot_55 - object + Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_11 - object + SaltShaker_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_45 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_55 - object + SoapBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_39 - object + Spatula_bar__plus_02_dot_15_bar__plus_00_dot_95_bar__plus_02_dot_26 - object + Spoon_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 - object + Spoon_bar__plus_01_dot_94_bar__plus_00_dot_75_bar__plus_00_dot_65 - object + Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_01_dot_92_bar__plus_00_dot_98_bar__plus_00_dot_81 - object + WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_02_dot_90 - object + WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_02_dot_06 - object + WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (objectType DishSponge_bar__plus_01_dot_67_bar__plus_00_dot_94_bar__plus_02_dot_74 DishSpongeType) + (objectType Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 MugType) + (objectType WineBottle_bar__plus_02_dot_30_bar__plus_00_dot_94_bar__plus_02_dot_06 WineBottleType) + (objectType Spoon_bar__plus_01_dot_56_bar__plus_00_dot_94_bar__plus_02_dot_59 SpoonType) + (objectType PepperShaker_bar__plus_00_dot_03_bar__plus_00_dot_08_bar__plus_02_dot_13 PepperShakerType) + (objectType PepperShaker_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_44 PepperShakerType) + (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType) + (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType) + (objectType Bowl_bar__plus_02_dot_06_bar__plus_00_dot_34_bar__minus_00_dot_01 BowlType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType) + (objectType Knife_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_71 KnifeType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType) + (objectType Apple_bar__minus_00_dot_30_bar__plus_00_dot_09_bar__minus_00_dot_77 AppleType) + (objectType Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 SpoonType) + (objectType Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 CurtainsType) + (objectType PepperShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 PepperShakerType) + (objectType Fork_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_39 ForkType) + (objectType Ladle_bar__plus_01_dot_99_bar__plus_00_dot_79_bar__plus_02_dot_20 LadleType) + (objectType WineBottle_bar__minus_00_dot_05_bar__plus_00_dot_94_bar__plus_02_dot_83 WineBottleType) + (objectType Apple_bar__plus_01_dot_92_bar__plus_00_dot_99_bar__plus_00_dot_36 AppleType) + (objectType Ladle_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_22 LadleType) + (objectType WineBottle_bar__plus_01_dot_79_bar__plus_00_dot_94_bar__plus_02_dot_90 WineBottleType) + (objectType Bowl_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_38 BowlType) + (objectType Plate_bar__minus_00_dot_31_bar__plus_00_dot_78_bar__plus_00_dot_41 PlateType) + (objectType Cup_bar__plus_02_dot_15_bar__plus_00_dot_94_bar__plus_02_dot_26 CupType) + (objectType Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_11 PotType) + (objectType Potato_bar__plus_01_dot_22_bar__plus_00_dot_84_bar__plus_02_dot_53 PotatoType) + (objectType Egg_bar__plus_00_dot_58_bar__plus_00_dot_84_bar__plus_02_dot_53 EggType) + (objectType SoapBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_01_dot_39 SoapBottleType) + (objectType Pan_bar__plus_01_dot_93_bar__plus_00_dot_07_bar__plus_00_dot_64 PanType) + (objectType Mug_bar__plus_02_dot_28_bar__plus_01_dot_51_bar__minus_00_dot_10 MugType) + (objectType Spatula_bar__plus_02_dot_15_bar__plus_00_dot_95_bar__plus_02_dot_26 SpatulaType) + (objectType Fork_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_05 ForkType) + (objectType Spoon_bar__plus_01_dot_94_bar__plus_00_dot_75_bar__plus_00_dot_65 SpoonType) + (objectType Fork_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_55 ForkType) + (objectType Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 ChairType) + (objectType Ladle_bar__plus_01_dot_81_bar__plus_01_dot_55_bar__plus_02_dot_81 LadleType) + (objectType Cup_bar__plus_01_dot_44_bar__plus_00_dot_08_bar__plus_02_dot_45 CupType) + (objectType Egg_bar__plus_01_dot_95_bar__plus_01_dot_37_bar__minus_00_dot_37 EggType) + (objectType Cup_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 CupType) + (objectType SaltShaker_bar__plus_00_dot_71_bar__plus_00_dot_08_bar__plus_02_dot_45 SaltShakerType) + (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 StoveKnobType) + (objectType Bowl_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_76 BowlType) + (objectType Lettuce_bar__plus_02_dot_16_bar__plus_00_dot_66_bar__minus_00_dot_10 LettuceType) + (objectType Potato_bar__plus_02_dot_11_bar__plus_01_dot_36_bar__minus_00_dot_55 PotatoType) 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"rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_2a35bd39", + "position": { + "x": 1.79003978, + "y": 0.938628733, + "z": 2.8983655 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_db580e26", + "position": { + "x": 2.1509285, + "y": 0.95269984, + "z": 2.260898 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_540cf8b1", + "position": { + "x": 1.16920364, + "y": 0.793776751, + "z": 2.71233749 + }, + "rotation": { + "x": 277.964722, + "y": 131.917175, + "z": 168.464508 + } + }, + { + "objectName": "Tomato_fac53a9c", + "position": { + "x": 1.91749084, + "y": 0.9845922, + "z": 0.8060128 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_92427322", + "position": { + "x": 1.91749084, + "y": 0.98832804, + "z": 0.3613872 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": 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-0.00171983812, + "y": 0.00022586975, + "z": 0.0006838492 + } + }, + { + "objectName": "Spoon_9b26f0a9", + "position": { + "x": 1.94175351, + "y": 0.747938633, + "z": 0.652292669 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5c2a3ea2", + "position": { + "x": -0.349214524, + "y": 0.7859637, + "z": 0.713435769 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_dbaf3456", + "position": { + "x": 2.20367, + "y": 1.5003202, + "z": 0.7550118 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3687534238, + "scene_num": 27 + }, + "task_id": "trial_T20190912_063708_012838", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ALDWVFR4I0V2D_3IQ1VMJRYW13GAE7G3M918AVQGQ9AW", + "high_descs": [ + "Walk straight then take a quick right and walk towards the counter. Face the toaster.", + "Pick up the knife in front of the toaster", + "Turn left and walk towards the sink", + "Place the knife in the sink then turn the faucet on so water fills the sink. Turn the faucet off and pick up the knife again.", + "Turn left and left again and walk straight again. Turn right to face the small table.", + "Place the knife on the table to the left of the wooden bowl." + ], + "task_desc": "Find a knife then clean it before putting back on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3M0NZ3JDP4FLGVK3P5PR6LW2D7EZ50", + "high_descs": [ + "Turn right to the counter", + "Grab the knife on the counter", + "Turn left, walk to the sink", + "Put the knife in the sink on the right, wash the knife with water, take the knife", + "Turn around, walk to the white table on the right", + "Put the knife down on the table" + ], + "task_desc": "wash the knife from the counter, put in on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3QIYRE09Y6YSBO51LUCL88CCRAKN12", + "high_descs": [ + "Walk forward and turn right to stand in front of the toaster.", + "Pick up the knife in front of the toaster.", + "Go to the sink on your left.", + "Put the knife in the sink, turn on the water briefly, and pick up the knife again.", + "Turn around and go to the table on your right.", + "Put the knife down on the table." + ], + "task_desc": "Put a rinsed knife on the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c8eabec7363b62763849aa0746c1cea7540666bb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/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 cloth 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_080924_812825)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object\n Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 - object\n Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 - object\n Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 - object\n Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 - object\n Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object\n Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object\n LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object\n Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object\n Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object\n ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object\n ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 - object\n SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 - object\n SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 - object\n SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 - object\n SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 - object\n SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 - object\n SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 - object\n SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 - object\n ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 - object\n ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 - object\n Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle\n Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle\n CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle\n GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle\n HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle\n Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle\n TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle\n loc_bar__minus_10_bar_0_bar_3_bar_15 - location\n loc_bar__minus_6_bar_5_bar_0_bar_15 - location\n loc_bar__minus_7_bar_0_bar_3_bar_45 - location\n loc_bar__minus_10_bar_1_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_3_bar_0 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location\n loc_bar__minus_7_bar_2_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location\n loc_bar__minus_6_bar_3_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_0_bar_60 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType)\n (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType)\n (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType)\n (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType)\n (objectType SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 SoapBottleType)\n (objectType Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 ClothType)\n (objectType SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 SoapBottleType)\n (objectType SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 SoapBarType)\n (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType)\n (objectType Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 CandleType)\n (objectType ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 ToiletPaperType)\n (objectType Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 CandleType)\n (objectType SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 SoapBottleType)\n (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType)\n (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType)\n (objectType Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 ClothType)\n (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType)\n (objectType SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 SprayBottleType)\n (objectType ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 ToiletPaperType)\n (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType)\n (objectType SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 SprayBottleType)\n (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType)\n (objectType SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 SoapBarType)\n (objectType SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 SprayBottleType)\n (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85)\n (pickupable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81)\n (pickupable SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57)\n (pickupable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34)\n (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80)\n (pickupable Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74)\n (pickupable ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14)\n (pickupable Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65)\n (pickupable SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46)\n (pickupable Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (pickupable SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85)\n (pickupable ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12)\n (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68)\n (pickupable SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33)\n (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79)\n (pickupable SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08)\n (pickupable SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17)\n (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76)\n \n (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n \n (atLocation agent1 loc_bar__minus_10_bar_3_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81)\n (cleanable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34)\n (cleanable Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (cleanable SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (inReceptacle SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n (inReceptacle ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n (inReceptacle Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91)\n (inReceptacle SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85)\n (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30)\n (objectAtLocation Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (objectAtLocation Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\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 cloth 1 from countertop 1", "go to sinkbasin 1", "clean cloth 1 with sinkbasin 1", "go to cabinet 4", "open cabinet 3", "move cloth 1 to cabinet 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9e149c459815562d69cdae60567d55133fdab1db --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080924_812825/initial_state.pddl @@ -0,0 +1,474 @@ + +(define (problem plan_trial_T20190907_080924_812825) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object + Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 - object + Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 - object + Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 - object + Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 - object + Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object + Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object + LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object + Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object + Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object + ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object + ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 - object + SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 - object + SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 - object + SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 - object + SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 - object + SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 - object + SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 - object + SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 - object + ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 - object + ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 - object + Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle + Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle + Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle + CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle + GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle + HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle + Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle + TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle + loc_bar__minus_10_bar_0_bar_3_bar_15 - location + loc_bar__minus_6_bar_5_bar_0_bar_15 - location + loc_bar__minus_7_bar_0_bar_3_bar_45 - location + loc_bar__minus_10_bar_1_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_3_bar_0 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location + loc_bar__minus_7_bar_2_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location + loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location + loc_bar__minus_6_bar_3_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_0_bar_60 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType) + (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType) + (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType) + (objectType SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 SoapBottleType) + (objectType Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 ClothType) + (objectType SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 SoapBottleType) + (objectType SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 SoapBarType) + (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType) + (objectType Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 CandleType) + (objectType ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 ToiletPaperType) + (objectType Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 CandleType) + (objectType SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 SoapBottleType) + (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType) + (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType) + (objectType Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 ClothType) + (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType) + (objectType SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 SprayBottleType) + (objectType ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 ToiletPaperType) + (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType) + (objectType SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 SprayBottleType) + (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType) + (objectType SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 SoapBarType) + (objectType SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 SprayBottleType) + (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain TowelHolderType TowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85) + (pickupable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81) + (pickupable SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57) + (pickupable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34) + (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80) + (pickupable Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74) + (pickupable ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14) + (pickupable Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65) + (pickupable SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46) + (pickupable Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60) + (pickupable SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85) + (pickupable ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12) + (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68) + (pickupable SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33) + (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79) + (pickupable SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08) + (pickupable SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17) + (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76) + + (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60) + (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01) + (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + + (atLocation agent1 loc_bar__minus_10_bar_3_bar_2_bar_30) + + (cleanable Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81) + (cleanable SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34) + (cleanable Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60) + (cleanable SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08) + + + + + + + + + + + (inReceptacle Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76) + (inReceptacle SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88) + (inReceptacle SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + (inReceptacle ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27) + (inReceptacle Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44) + (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91) + (inReceptacle SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85) + (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76) + (inReceptacle SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + (inReceptacle SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + (inReceptacle ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27) + + + (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60) + (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation SprayBottle_bar__minus_03_dot_10_bar__plus_00_dot_11_bar__minus_00_dot_17 loc_bar__minus_7_bar_2_bar_3_bar_45) + (objectAtLocation Cloth_bar__minus_00_dot_55_bar__plus_00_dot_03_bar__plus_00_dot_81 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_46 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_99_bar__plus_00_dot_51_bar__plus_01_dot_74 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_03_bar__plus_00_dot_51_bar__plus_01_dot_08 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_05_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_03_dot_22_bar__plus_01_dot_05_bar__plus_01_dot_33 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15) + (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60) + (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15) + (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0) + (objectAtLocation SoapBar_bar__minus_01_dot_10_bar__plus_00_dot_51_bar__plus_01_dot_34 loc_bar__minus_6_bar_3_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 loc_bar__minus_8_bar_3_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__minus_00_dot_12 loc_bar__minus_7_bar_2_bar_3_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30) + (objectAtLocation Candle_bar__minus_03_dot_17_bar__plus_00_dot_11_bar__minus_00_dot_65 loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_57 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + (objectAtLocation Cloth_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar__minus_10_bar__minus_1_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_03_dot_11_bar__plus_00_dot_05_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r CabinetType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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0.0 + } + } + ], + "object_toggles": [], + "random_seed": 423839481, + "scene_num": 405 + }, + "task_id": "trial_T20190907_080924_812825", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AJQGWGESKQT4Y_3NVC2EB65TGIXQNUF0ZFDHPGSAWY3G", + "high_descs": [ + "Turn right towards the gray counter.", + "Pick the red cloth up from the gray counter.", + "Go right towards the sink.", + "Set the cloth in the sink, turn the water on, turn the water off, pick up the cloth.", + "Go to the left side of the cabinet under the sink.", + "Open the bottom left cabinet and put the cloth in and shut the cabinet door." + ], + "task_desc": "Put a rinsed cloth in a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3S96KQ6I9PLKYWQXYJISI9JD5S1TDX", + "high_descs": [ + "Move to the counter that is left of the sink.", + "Pick up the dirty rag that is on the counter.", + "Turn right, move to the sink.", + "Put the rag in the sink, rinse it off, and pick it back up.", + "Move to the cabinet to the left of the sink.", + "Place the clean rag in to the cabinet below the counter." + ], + "task_desc": "Clean a rag, put it away.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3TXMY6UCAH5X1OSRHJTMTYQ80M2QCU", + "high_descs": [ + "Move forward and turn right to face the dirty rag on the counter.", + "Pick up the rag from the counter. ", + "Bring the rag to the sink on the right. ", + "Clean the rag in the sink with water. ", + "Take the cleaned rag to the lower cabinet left of the sink. ", + "Put the cleaned rag in the left cabinet. " + ], + "task_desc": "Put a cleaned rag in the left 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-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5268c2e0c37ae099d8c8613dbb768e70ef84bd2b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/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 cloth 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_080943_173175)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object\n Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 - object\n Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 - object\n Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 - object\n Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 - object\n Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 - object\n Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 - object\n Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object\n Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object\n HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object\n LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object\n Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object\n Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object\n ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object\n ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object\n SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 - object\n SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 - object\n SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 - object\n SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 - object\n SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 - object\n SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 - object\n SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 - object\n ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 - object\n ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 - object\n Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object\n Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle\n Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle\n CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle\n GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle\n HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle\n HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle\n Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle\n Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle\n TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle\n loc_bar__minus_10_bar_0_bar_3_bar_15 - location\n loc_bar__minus_6_bar_5_bar_0_bar_15 - location\n loc_bar__minus_7_bar_0_bar_3_bar_45 - location\n loc_bar__minus_10_bar_1_bar_3_bar_60 - location\n loc_bar__minus_10_bar_3_bar_3_bar_0 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location\n loc_bar__minus_7_bar_2_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_3_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location\n loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location\n loc_bar__minus_6_bar_3_bar_1_bar_60 - location\n loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_10_bar_3_bar_0_bar_60 - location\n loc_bar__minus_8_bar_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType)\n (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType)\n (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType)\n (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType)\n (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType)\n (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType)\n (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType)\n (objectType Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 ClothType)\n (objectType Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 ClothType)\n (objectType SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 SprayBottleType)\n (objectType SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 SoapBottleType)\n (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType)\n (objectType ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 SoapBarType)\n (objectType Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 ClothType)\n (objectType SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 SoapBottleType)\n (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType)\n (objectType Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 CandleType)\n (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType)\n (objectType Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 CandleType)\n (objectType SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 SprayBottleType)\n (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType)\n (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType)\n (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType)\n (objectType ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 ToiletPaperType)\n (objectType SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 SoapBottleType)\n (objectType SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 SprayBottleType)\n (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType)\n (objectType Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 ClothType)\n (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain TowelHolderType TowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (pickupable Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12)\n (pickupable SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63)\n (pickupable SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33)\n (pickupable Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80)\n (pickupable ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14)\n (pickupable SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33)\n (pickupable Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58)\n (pickupable SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49)\n (pickupable Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54)\n (pickupable Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68)\n (pickupable SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39)\n (pickupable Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68)\n (pickupable ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03)\n (pickupable SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63)\n (pickupable SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29)\n (pickupable ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79)\n (pickupable Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44)\n (pickupable HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76)\n \n (openable Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (openable Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01)\n (openable Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n \n (atLocation agent1 loc_bar__minus_7_bar__minus_2_bar_2_bar_30)\n \n (cleanable Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60)\n (cleanable Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12)\n (cleanable SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33)\n (cleanable Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58)\n (cleanable Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60)\n (inReceptacle SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (inReceptacle SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88)\n (inReceptacle SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin)\n (inReceptacle ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27)\n (inReceptacle Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin)\n (inReceptacle SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44)\n (inReceptacle Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91)\n (inReceptacle HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76)\n (inReceptacle SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n (inReceptacle ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27)\n \n \n (receptacleAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin loc_bar__minus_6_bar_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 loc_bar__minus_8_bar_4_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 loc_bar__minus_10_bar__minus_1_bar_2_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (receptacleAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin loc_bar__minus_10_bar_1_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 loc_bar__minus_10_bar_3_bar_3_bar_60)\n (receptacleAtLocation Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n (objectAtLocation SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 loc_bar__minus_10_bar__minus_1_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 loc_bar__minus_6_bar_5_bar_0_bar_15)\n (objectAtLocation Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 loc_bar__minus_6_bar_3_bar_1_bar_60)\n (objectAtLocation Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 loc_bar__minus_10_bar_0_bar_3_bar_15)\n (objectAtLocation HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 loc_bar__minus_10_bar_3_bar_3_bar_0)\n (objectAtLocation SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 loc_bar__minus_10_bar_1_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 loc_bar__minus_8_bar_3_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 loc_bar__minus_7_bar_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 loc_bar__minus_9_bar__minus_1_bar_2_bar_30)\n (objectAtLocation Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 loc_bar__minus_10_bar_3_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 loc_bar__minus_7_bar_0_bar_3_bar_45)\n (objectAtLocation SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 loc_bar__minus_8_bar_5_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o ClothType)\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 cloth 1 from countertop 1", "go to sinkbasin 1", "clean cloth 1 with sinkbasin 1", "go to cabinet 4", "open cabinet 3", "move cloth 1 to cabinet 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..807aeade5492d41335480ae94a1694dd0bfc22b9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/initial_state.pddl @@ -0,0 +1,483 @@ + +(define (problem plan_trial_T20190907_080943_173175) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 - object + Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 - object + Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 - object + Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 - object + Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 - object + Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 - object + Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 - object + Faucet_bar__minus_00_dot_62_bar__plus_00_dot_67_bar__plus_01_dot_81 - object + Faucet_bar__minus_03_dot_31_bar__plus_00_dot_99_bar__plus_00_dot_21 - object + HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 - object + LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 - object + Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 - object + Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 - object + ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 - object + ShowerCurtain_bar__minus_01_dot_17_bar__plus_01_dot_87_bar__minus_00_dot_11 - object + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 - object + SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 - object + SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 - object + SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 - object + SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 - object + SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 - object + SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 - object + SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 - object + ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 - object + ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 - object + Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 - object + Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 - receptacle + Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 - receptacle + Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 - receptacle + Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 - receptacle + CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 - receptacle + GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 - receptacle + HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 - receptacle + HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 - receptacle + Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 - receptacle + Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 - receptacle + TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 - receptacle + loc_bar__minus_10_bar_0_bar_3_bar_15 - location + loc_bar__minus_6_bar_5_bar_0_bar_15 - location + loc_bar__minus_7_bar_0_bar_3_bar_45 - location + loc_bar__minus_10_bar_1_bar_3_bar_60 - location + loc_bar__minus_10_bar_3_bar_3_bar_0 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_30 - location + loc_bar__minus_7_bar_2_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_3_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_2_bar_0 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_30 - location + loc_bar__minus_9_bar__minus_1_bar_2_bar_30 - location + loc_bar__minus_6_bar_3_bar_1_bar_60 - location + loc_bar__minus_10_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_10_bar_3_bar_0_bar_60 - location + loc_bar__minus_8_bar_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_02_dot_91_bar__plus_02_dot_10_bar__plus_01_dot_88 CabinetType) + (receptacleType CounterTop_bar__minus_03_dot_05_bar__plus_01_dot_04_bar__minus_00_dot_44 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_76 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_03_dot_11_bar__plus_00_dot_83_bar__plus_00_dot_63 ToiletPaperHangerType) + (receptacleType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83_bar_BathtubBasin BathtubBasinType) + (receptacleType TowelHolder_bar__minus_01_dot_62_bar__plus_01_dot_38_bar__plus_01_dot_91 TowelHolderType) + (receptacleType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__minus_02_dot_93_bar__plus_00_dot_00_bar__plus_01_dot_27 ToiletType) + (receptacleType GarbageCan_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_00_dot_85 GarbageCanType) + (receptacleType HandTowelHolder_bar__minus_03_dot_36_bar__plus_01_dot_57_bar__plus_00_dot_76 HandTowelHolderType) + (receptacleType HandTowelHolder_bar__minus_02_dot_96_bar__plus_01_dot_70_bar__minus_00_dot_77 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_45_bar__plus_00_dot_60 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_90_bar__plus_02_dot_05_bar__plus_01_dot_01 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_76_bar__plus_00_dot_42_bar__minus_00_dot_27 CabinetType) + (objectType Cloth_bar__minus_03_dot_19_bar__plus_01_dot_00_bar__minus_00_dot_60 ClothType) + (objectType Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_12 ClothType) + (objectType SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 SprayBottleType) + (objectType SoapBottle_bar__minus_03_dot_26_bar__plus_01_dot_05_bar__plus_01_dot_33 SoapBottleType) + (objectType Towel_bar__minus_01_dot_62_bar__plus_01_dot_40_bar__plus_01_dot_80 TowelType) + (objectType ToiletPaper_bar__minus_03_dot_25_bar__plus_01_dot_04_bar__plus_01_dot_14 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_97_bar__plus_00_dot_88_bar__plus_00_dot_33 SoapBarType) + (objectType Cloth_bar__minus_00_dot_48_bar__plus_00_dot_03_bar__plus_00_dot_58 ClothType) + (objectType SoapBottle_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__minus_00_dot_49 SoapBottleType) + (objectType Mirror_bar__minus_03_dot_35_bar__plus_01_dot_48_bar__plus_00_dot_02 MirrorType) + (objectType Candle_bar__minus_03_dot_23_bar__plus_00_dot_11_bar__plus_00_dot_54 CandleType) + (objectType Bathtub_bar__minus_00_dot_60_bar__plus_00_dot_29_bar__plus_00_dot_83 BathtubType) + (objectType Candle_bar__minus_03_dot_04_bar__plus_01_dot_00_bar__minus_00_dot_68 CandleType) + (objectType SprayBottle_bar__minus_03_dot_19_bar__plus_01_dot_05_bar__plus_01_dot_39 SprayBottleType) + (objectType Sink_bar__minus_03_dot_02_bar__plus_00_dot_87_bar__plus_00_dot_21 SinkType) + (objectType LightSwitch_bar__minus_02_dot_31_bar__plus_01_dot_43_bar__minus_00_dot_77 LightSwitchType) + (objectType Plunger_bar__minus_03_dot_04_bar__plus_00_dot_00_bar__plus_01_dot_68 PlungerType) + (objectType ToiletPaper_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_03 ToiletPaperType) + (objectType SoapBottle_bar__minus_03_dot_01_bar__plus_01_dot_87_bar__plus_01_dot_63 SoapBottleType) + (objectType SprayBottle_bar__minus_03_dot_11_bar__plus_01_dot_00_bar__minus_00_dot_29 SprayBottleType) + (objectType ScrubBrush_bar__minus_03_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_79 ScrubBrushType) + (objectType Cloth_bar__minus_02_dot_97_bar__plus_00_dot_11_bar__plus_00_dot_44 ClothType) + (objectType HandTowel_bar__minus_03_dot_32_bar__plus_01_dot_46_bar__plus_00_dot_76 HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + 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loc_bar__minus_7_bar_0_bar_3_bar_45) + (objectAtLocation SprayBottle_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__plus_01_dot_63 loc_bar__minus_8_bar_5_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o ClothType) + (receptacleType ?r CabinetType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..cf322d07341726e63d7a74bdec8cb3fab6b32acd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Cloth-None-Cabinet-405/trial_T20190907_080943_173175/traj_data.json @@ -0,0 +1,6226 @@ +{ + "images": [ + 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"y": 1.0499537, + "z": 1.39470267 + }, + "rotation": { + "x": 0.0, + "y": 270.0005, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2667850885, + "scene_num": 405 + }, + "task_id": "trial_T20190907_080943_173175", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_3KKG4CDWKLFOELYQ72CIO5OVY2P493", + "high_descs": [ + "move to the right and face the bathroom sink", + "grab the dirty washcloth off of the bathroom sink counter", + "move to the right a bit and face the actually bathroom sink", + "place the cloth inside of the sink, turn the water on, and clean the cloth off", + "back up a bit to face the bathroom sink", + "place the cloth inside the cabinet to the bottom left of the bathroom sink cabinet" + ], + "task_desc": "place a clean washcloth inside of the cabinet", + "votes": [ + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3JRJSWSMQK2KRL63FZNL6EX0B0DE38", + "high_descs": [ + "Turn around and take a step forward, then turn left and walk over to the left side of the sink counter.", + "Pick up the dirty red rag from the sink counter.", + "Turn right and walk over to the sink.", + "Place the dirty red rag into the sink basin and rinse it off, then pick it back up.", + "Turn around and begin walking to the tub, then right and take a step, turn right again to face the sink counter.", + "Open the leftmost cabinet door in front of you and put the clean red rag inside." + ], + "task_desc": "Put a clean rag into the cabinet.", + "votes": [ + 0, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_34V1S5K3GVI2T824QQ5XL389UF5698", + "high_descs": [ + "Turn right and walk towards the sink counter.", + "Pick up a dirty red towel from the counter.", + "Take a step to the right to face the sink.", + "Place the towel in the sink, wash it, and pick it back up.", + "Take a step backwards to find the left cabinet next to the wall.", + "Place the red towel in the cabinet and close it." + ], + "task_desc": "Washed the red towel to place it in the 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-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4be04e54aec6303ced798b96850b18419ba7e329 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/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 dishsponge in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_001329_772865)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object\n Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 - object\n Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 - object\n Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 - object\n Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 - object\n Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 - object\n Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 - object\n DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 - object\n DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 - object\n DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 - object\n DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object\n Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object\n HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 - object\n HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 - object\n LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object\n Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object\n PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 - object\n Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object\n ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object\n ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object\n SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 - object\n SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 - object\n SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 - object\n SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 - object\n SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 - object\n TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 - object\n ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 - object\n ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 - object\n Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle\n HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle\n Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle\n TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle\n loc_bar__minus_5_bar_0_bar_2_bar_60 - location\n loc_bar__minus_4_bar_1_bar_1_bar_45 - location\n loc_bar__minus_8_bar_2_bar_2_bar_45 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_8_bar_6_bar_0_bar_60 - location\n loc_bar__minus_8_bar_6_bar_0_bar_0 - location\n loc_bar__minus_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_3_bar_0 - location\n loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_4_bar_7_bar_0_bar_30 - location\n loc_bar__minus_4_bar_1_bar_1_bar_60 - location\n loc_bar__minus_11_bar_2_bar_3_bar_60 - location\n loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_6_bar_6_bar_0_bar_60 - location\n loc_bar__minus_9_bar_1_bar_2_bar_60 - location\n loc_bar__minus_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_11_bar_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar_2_bar_2_bar_45 - location\n loc_bar__minus_10_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_1_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType)\n (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType)\n (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType)\n (objectType PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 PaperTowelRollType)\n (objectType ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 ToiletPaperType)\n (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType)\n (objectType DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 DishSpongeType)\n (objectType Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 CandleType)\n (objectType DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 DishSpongeType)\n (objectType SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 SoapBottleType)\n (objectType HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType)\n (objectType TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 TissueBoxType)\n (objectType HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType)\n (objectType Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 CandleType)\n (objectType DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 DishSpongeType)\n (objectType SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 SoapBarType)\n (objectType Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 ClothType)\n (objectType Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 ClothType)\n (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType)\n (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType)\n (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType)\n (objectType Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 ClothType)\n (objectType SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 SoapBottleType)\n (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType)\n (objectType DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 DishSpongeType)\n (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType)\n (objectType Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 CandleType)\n (objectType SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType)\n (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 ToiletPaperType)\n (objectType SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 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 TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (pickupable PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75)\n (pickupable ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25)\n (pickupable DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04)\n (pickupable Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57)\n (pickupable DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59)\n (pickupable SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72)\n (pickupable HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24)\n (pickupable TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (pickupable HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24)\n (pickupable Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72)\n (pickupable DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76)\n (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73)\n (pickupable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41)\n (pickupable Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71)\n (pickupable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68)\n (pickupable SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33)\n (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46)\n (pickupable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53)\n (pickupable Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83)\n (pickupable SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47)\n (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54)\n (pickupable SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65)\n \n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n \n (atLocation agent1 loc_bar__minus_11_bar_1_bar_3_bar_30)\n \n (cleanable DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04)\n (cleanable DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59)\n (cleanable DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76)\n (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73)\n (cleanable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41)\n (cleanable Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64)\n (cleanable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68)\n (cleanable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (inReceptacle DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (inReceptacle ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (inReceptacle Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (inReceptacle Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56)\n (inReceptacle HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28)\n (inReceptacle HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28)\n (inReceptacle Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n (inReceptacle DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_5_bar_6_bar_0_bar__minus_15)\n (objectAtLocation Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_9_bar_6_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 loc_bar__minus_4_bar_1_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 loc_bar__minus_11_bar_2_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o DishSpongeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bathtubbasin 1", "take dishsponge 1 from bathtubbasin 1", "go to sinkbasin 1", "clean dishsponge 1 with sinkbasin 1", "go to drawer 6", "open drawer 5", "move dishsponge 1 to drawer 5"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4810db39810842e248b8838de2f9d5c7c89f9e6b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/initial_state.pddl @@ -0,0 +1,562 @@ + +(define (problem plan_trial_T20190909_001329_772865) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object + Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 - object + Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 - object + Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 - object + Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 - object + Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 - object + Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 - object + DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 - object + DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 - object + DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 - object + DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object + Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object + HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 - object + HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 - object + LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object + Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object + PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 - object + Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object + ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object + ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object + SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 - object + SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 - object + SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 - object + SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 - object + SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 - object + TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 - object + ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 - object + ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 - object + Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle + HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle + Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle + TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle + loc_bar__minus_5_bar_0_bar_2_bar_60 - location + loc_bar__minus_4_bar_1_bar_1_bar_45 - location + loc_bar__minus_8_bar_2_bar_2_bar_45 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_8_bar_6_bar_0_bar_60 - location + loc_bar__minus_8_bar_6_bar_0_bar_0 - location + loc_bar__minus_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_bar_3_bar_0 - location + loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_4_bar_7_bar_0_bar_30 - location + loc_bar__minus_4_bar_1_bar_1_bar_60 - location + loc_bar__minus_11_bar_2_bar_3_bar_60 - location + loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_6_bar_6_bar_0_bar_60 - location + loc_bar__minus_9_bar_1_bar_2_bar_60 - location + loc_bar__minus_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_11_bar_3_bar_3_bar_60 - location + loc_bar__minus_7_bar_2_bar_2_bar_45 - location + loc_bar__minus_10_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_1_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType) + (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType) + (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType) + (objectType PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 PaperTowelRollType) + (objectType ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 ToiletPaperType) + (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType) + (objectType DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 DishSpongeType) + (objectType Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 CandleType) + (objectType DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 DishSpongeType) + (objectType SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 SoapBottleType) + (objectType HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType) + (objectType TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 TissueBoxType) + (objectType HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType) + (objectType Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 CandleType) + (objectType DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 DishSpongeType) + (objectType SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 SoapBarType) + (objectType Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 ClothType) + (objectType Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 ClothType) + (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType) + (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType) + (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType) + (objectType Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 ClothType) + (objectType SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 SoapBottleType) + (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType) + (objectType DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 DishSpongeType) + (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType) + (objectType Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 CandleType) + (objectType SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType) + (objectType ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 ToiletPaperType) + (objectType SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 SoapBottleType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (pickupable PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75) + (pickupable ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25) + (pickupable DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04) + (pickupable Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57) + (pickupable DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59) + (pickupable SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72) + (pickupable HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24) + (pickupable TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64) + (pickupable HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24) + (pickupable Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72) + (pickupable DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76) + (pickupable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73) + (pickupable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41) + (pickupable Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64) + (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71) + (pickupable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68) + (pickupable SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33) + (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46) + (pickupable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64) + (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53) + (pickupable Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83) + (pickupable SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47) + (pickupable ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54) + (pickupable SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65) + + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + + (atLocation agent1 loc_bar__minus_11_bar_1_bar_3_bar_30) + + (cleanable DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04) + (cleanable DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59) + (cleanable DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76) + (cleanable SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73) + (cleanable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41) + (cleanable Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64) + (cleanable Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68) + (cleanable DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (inReceptacle DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (inReceptacle ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56) + (inReceptacle HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28) + (inReceptacle HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28) + (inReceptacle Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + (inReceptacle DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_44_bar__minus_00_dot_59 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_02_dot_79_bar__plus_00_dot_18_bar__minus_00_dot_68 loc_bar__minus_9_bar_2_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_67_bar__plus_00_dot_96_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_01_dot_28_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (objectAtLocation Candle_bar__minus_03_dot_22_bar__plus_00_dot_61_bar__plus_01_dot_57 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_15_bar__plus_00_dot_62_bar__minus_00_dot_33 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_04 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_61_bar__plus_00_dot_95_bar__minus_00_dot_72 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Candle_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_83 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_02_dot_39_bar__plus_00_dot_44_bar__minus_00_dot_73 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_02_dot_25_bar__plus_00_dot_17_bar__minus_00_dot_54 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_65 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_64 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_53_bar__plus_00_dot_94_bar__plus_00_dot_25 loc_bar__minus_4_bar_1_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_86_bar__plus_01_dot_06_bar__minus_00_dot_75 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_41 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_18_bar__plus_00_dot_61_bar__plus_01_dot_76 loc_bar__minus_11_bar_2_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r DrawerType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..3c18f475f995e2634950049c90d125cea467c4dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001329_772865/traj_data.json @@ -0,0 +1,4332 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3NLZY2D53SGYPH8VQ4B2X30XOXNQLI", + "high_descs": [ + "Turn right and take a small step to your right then walk to the wall and turn left.", + "Pick up the sponge that's in front of you to the right of the green curtain on the tub's lip.", + "Turn around to face the sink please.", + "Get the sponge wet in the sink and then pick it back up and shut off the water.", + "Turn right and walk to the drawers stopping about three feet from them.", + "Open the third drawer from the right on the top row and put the sponge in there before closing the drawer." + ], + "task_desc": "Put a wet sponge in the drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3FDJT1UU77ZYCP7FLCBYKSSR31ZK50", + "high_descs": [ + "Turn right and go to the bathtub.", + "Pick up the sponge on the bathtub.", + "Turn and go to the sink.", + "Wash the sponge in the sink.", + "Turn and go to the chest of drawers.", + "Put the sponge in a drawer." + ], + "task_desc": "Put a washed sponge in a drawer.", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..313c7513ba7e6c85ca2ae01c03f403eaf7ab44e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/initial_state.pddl @@ -0,0 +1,529 @@ + +(define (problem plan_trial_T20190909_001435_061244) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object + Candle_bar__minus_03_dot_11_bar__plus_00_dot_61_bar__plus_01_dot_72 - object + Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98 - object + Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59 - object + DishSponge_bar__minus_03_dot_16_bar__plus_00_dot_61_bar__plus_00_dot_41 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object + Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object + HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 - object + LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object + Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object + PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__minus_00_dot_70 - object + Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object + ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object + ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object + SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78 - object + SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_09_bar__plus_02_dot_19 - object + SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 - object + SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_61 - object + SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_59 - object + TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_18_bar__minus_00_dot_59 - object + TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + ToiletPaper_bar__minus_00_dot_79_bar__plus_00_dot_95_bar__minus_00_dot_80 - object + ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 - object + Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle + HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle + Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle + TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle + loc_bar__minus_5_bar_0_bar_2_bar_60 - location + loc_bar__minus_9_bar_1_bar_2_bar_60 - location + loc_bar__minus_4_bar_1_bar_1_bar_45 - location + loc_bar__minus_8_bar_2_bar_2_bar_45 - location + loc_bar__minus_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_bar_3_bar_0 - location + loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_11_bar_3_bar_3_bar_60 - location + loc_bar__minus_7_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar_7_bar_0_bar_30 - location + loc_bar__minus_8_bar_6_bar_0_bar_0 - location + loc_bar__minus_10_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_2_bar_3_bar_60 - location + loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_8_bar_6_bar_0_bar_60 - location + loc_bar__minus_6_bar_6_bar_0_bar_60 - location + loc_bar__minus_11_bar_3_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType) + (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType) + (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType) + (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType) + (objectType PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__minus_00_dot_70 PaperTowelRollType) + (objectType Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59 ClothType) + (objectType HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType) + (objectType SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78 SoapBarType) + (objectType TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_18_bar__minus_00_dot_59 TissueBoxType) + (objectType TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 TissueBoxType) + (objectType SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_09_bar__plus_02_dot_19 SoapBarType) + (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType) + (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType) + (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType) + (objectType Candle_bar__minus_03_dot_11_bar__plus_00_dot_61_bar__plus_01_dot_72 CandleType) + (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_59 SprayBottleType) + (objectType Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98 ClothType) + (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType) + (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType) + (objectType DishSponge_bar__minus_03_dot_16_bar__plus_00_dot_61_bar__plus_00_dot_41 DishSpongeType) + (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 ToiletPaperType) + (objectType ToiletPaper_bar__minus_00_dot_79_bar__plus_00_dot_95_bar__minus_00_dot_80 ToiletPaperType) + (objectType SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_61 SoapBottleType) + (objectType SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 SoapBarType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (pickupable PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__minus_00_dot_70) + (pickupable Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59) + (pickupable HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24) + (pickupable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78) + (pickupable TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_18_bar__minus_00_dot_59) + (pickupable TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70) + (pickupable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_09_bar__plus_02_dot_19) + (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71) + (pickupable Candle_bar__minus_03_dot_11_bar__plus_00_dot_61_bar__plus_01_dot_72) + (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_59) + (pickupable Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98) + (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46) + (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53) + (pickupable DishSponge_bar__minus_03_dot_16_bar__plus_00_dot_61_bar__plus_00_dot_41) + (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75) + (pickupable ToiletPaper_bar__minus_00_dot_79_bar__plus_00_dot_95_bar__minus_00_dot_80) + (pickupable SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_61) + (pickupable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16) + + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + + (atLocation agent1 loc_bar__minus_11_bar_3_bar_3_bar_30) + + (cleanable Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59) + (cleanable SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78) + (cleanable SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_09_bar__plus_02_dot_19) + (cleanable Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98) + (cleanable DishSponge_bar__minus_03_dot_16_bar__plus_00_dot_61_bar__plus_00_dot_41) + (cleanable SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16) + + + + + + + + + + + (inReceptacle Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (inReceptacle TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_59 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_18_bar__minus_00_dot_59 Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56) + (inReceptacle HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28) + (inReceptacle ToiletPaper_bar__minus_00_dot_79_bar__plus_00_dot_95_bar__minus_00_dot_80 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__minus_00_dot_70 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98 Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Cloth_bar__minus_02_dot_25_bar__plus_00_dot_44_bar__minus_00_dot_59 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation TissueBox_bar__minus_01_dot_44_bar__plus_00_dot_18_bar__minus_00_dot_59 loc_bar__minus_8_bar_2_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_02_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_16 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation SoapBar_bar__minus_00_dot_54_bar__plus_00_dot_95_bar__minus_00_dot_78 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Candle_bar__minus_03_dot_11_bar__plus_00_dot_61_bar__plus_01_dot_72 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_01_dot_76_bar__plus_01_dot_09_bar__plus_02_dot_19 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_61 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_00_dot_79_bar__plus_00_dot_95_bar__minus_00_dot_80 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_06_bar__minus_00_dot_70 loc_bar__minus_5_bar_0_bar_1_bar_60) + (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_08_bar__plus_01_dot_02_bar__plus_01_dot_98 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_03_dot_16_bar__plus_00_dot_61_bar__plus_00_dot_41 loc_bar__minus_11_bar_2_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r DrawerType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..b6ce931ccb775ac81d128688ba406630c9be5c87 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_001435_061244/traj_data.json @@ -0,0 +1,4611 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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around and walk to the counter on the other side of the room.", + "Put the sponge in the top second from the left drawer and close it." + ], + "task_desc": "Put a clean sponge in a drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3MMN5BL1W2VQOYKES50LK8MBEAKM3Y", + "high_descs": [ + "Turn and go to the bathtub. ", + "Pick up a sponge on the bathtub. ", + "Turn and go to the sink. ", + "Wash the sponge in the sink. ", + "Turn and go to the chest of drawers.", + "Put the sponge in a drawer. " + ], + "task_desc": "Put a washed sponge in a drawer. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1G1OO4IWM8EP5_3U5NZHP4LUTB39OQZ6HF56HG2KJPHA", + "high_descs": [ + "Move to the left.", + "Pick up the sponge on the side of the tub.", + "Turn around and walk toward the sink.", + "Put sponge in the sink and turn on the water. Empty sink and pick up the sponge.", + "Turn right and walk toward cabinet on the other side of the room. Open up drawer on top left.", + "Put sponge in drawer and close it." + ], + "task_desc": "Rinse sponge and put in cabinet drawer.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c29cdd226504b4587c38af907c88d4a396055c92 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/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 dishsponge in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_095203_563442)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object\n Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 - object\n Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 - object\n Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 - object\n Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 - object\n DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 - object\n Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object\n Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object\n HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 - object\n LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object\n Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object\n PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 - object\n Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object\n ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object\n ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object\n SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 - object\n SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 - object\n SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 - object\n SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 - object\n SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 - object\n SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 - object\n TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 - object\n ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 - object\n ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 - object\n Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object\n Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle\n CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle\n Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle\n GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle\n HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle\n Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle\n Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle\n TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle\n loc_bar__minus_5_bar_0_bar_2_bar_60 - location\n loc_bar__minus_9_bar_1_bar_2_bar_60 - location\n loc_bar__minus_4_bar_1_bar_1_bar_45 - location\n loc_bar__minus_8_bar_2_bar_2_bar_45 - location\n loc_bar__minus_9_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_0_bar_3_bar_0 - location\n loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_5_bar_0_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_0_bar_60 - location\n loc_bar__minus_11_bar_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar_2_bar_2_bar_45 - location\n loc_bar__minus_4_bar_7_bar_0_bar_30 - location\n loc_bar__minus_8_bar_6_bar_0_bar_0 - location\n loc_bar__minus_10_bar_2_bar_2_bar_45 - location\n loc_bar__minus_11_bar_2_bar_3_bar_60 - location\n loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location\n loc_bar__minus_8_bar_6_bar_0_bar_60 - location\n loc_bar__minus_6_bar_6_bar_0_bar_60 - location\n loc_bar__minus_6_bar_2_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType)\n (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType)\n (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType)\n (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType)\n (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType)\n (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType)\n (objectType SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 SoapBarType)\n (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType)\n (objectType DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 DishSpongeType)\n (objectType SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 SprayBottleType)\n (objectType Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 ClothType)\n (objectType Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 CandleType)\n (objectType HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType)\n (objectType Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 ClothType)\n (objectType TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 TissueBoxType)\n (objectType SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 SprayBottleType)\n (objectType Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 ClothType)\n (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType)\n (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType)\n (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType)\n (objectType ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 ToiletPaperType)\n (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType)\n (objectType SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 SoapBarType)\n (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType)\n (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType)\n (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 ToiletPaperType)\n (objectType SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 SoapBottleType)\n (objectType PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 PaperTowelRollType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType DishSpongeType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain BathtubBasinType DishSpongeType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (pickupable SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53)\n (pickupable DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78)\n (pickupable SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (pickupable Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97)\n (pickupable Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49)\n (pickupable HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24)\n (pickupable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (pickupable TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76)\n (pickupable SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (pickupable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22)\n (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47)\n (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71)\n (pickupable ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (pickupable SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59)\n (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46)\n (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53)\n (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75)\n (pickupable SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16)\n (pickupable PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53)\n \n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n \n (atLocation agent1 loc_bar__minus_6_bar_2_bar_2_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53)\n (cleanable DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78)\n (cleanable Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97)\n (cleanable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70)\n (cleanable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22)\n (cleanable SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62)\n (inReceptacle SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59)\n (inReceptacle SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62)\n (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56)\n (inReceptacle HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28)\n (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31)\n (inReceptacle Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n (inReceptacle Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin)\n \n \n (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15)\n (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 loc_bar__minus_11_bar_2_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0)\n (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 loc_bar__minus_7_bar_2_bar_2_bar_45)\n (objectAtLocation HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_9_bar_6_bar_0_bar__minus_15)\n (objectAtLocation SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 loc_bar__minus_9_bar_2_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 loc_bar__minus_7_bar_6_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60)\n (objectAtLocation Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 loc_bar__minus_5_bar_0_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o DishSpongeType)\n (receptacleType ?r DrawerType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toilet 1", "take dishsponge 1 from toilet 1", "go to sinkbasin 1", "clean dishsponge 1 with sinkbasin 1", "go to drawer 6", "open drawer 5", "move dishsponge 1 to drawer 5"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..59d0204cb03c2009e1ed56f2b6f571a707bf4654 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-DishSponge-None-Drawer-427/trial_T20190909_095203_563442/initial_state.pddl @@ -0,0 +1,538 @@ + +(define (problem plan_trial_T20190909_095203_563442) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 - object + Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 - object + Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 - object + Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 - object + DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 - object + Faucet_bar__minus_01_dot_92_bar__plus_01_dot_06_bar__plus_02_dot_18 - object + Faucet_bar__minus_03_dot_74_bar__plus_01_dot_86_bar__plus_01_dot_83 - object + HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 - object + LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 - object + Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 - object + PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 - object + Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 - object + ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 - object + ShowerCurtain_bar__minus_03_dot_04_bar__plus_02_dot_23_bar__plus_01_dot_72 - object + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 - object + SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 - object + SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 - object + SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 - object + SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 - object + TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 - object + ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 - object + ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 - object + Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 - object + Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin - receptacle + CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 - receptacle + Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 - receptacle + GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 - receptacle + HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 - receptacle + Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 - receptacle + Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 - receptacle + TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 - receptacle + loc_bar__minus_5_bar_0_bar_2_bar_60 - location + loc_bar__minus_9_bar_1_bar_2_bar_60 - location + loc_bar__minus_4_bar_1_bar_1_bar_45 - location + loc_bar__minus_8_bar_2_bar_2_bar_45 - location + loc_bar__minus_9_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_0_bar_3_bar_0 - location + loc_bar__minus_5_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_5_bar_0_bar_1_bar_60 - location + loc_bar__minus_7_bar_6_bar_0_bar_60 - location + loc_bar__minus_11_bar_3_bar_3_bar_60 - location + loc_bar__minus_7_bar_2_bar_2_bar_45 - location + loc_bar__minus_4_bar_7_bar_0_bar_30 - location + loc_bar__minus_8_bar_6_bar_0_bar_0 - location + loc_bar__minus_10_bar_2_bar_2_bar_45 - location + loc_bar__minus_11_bar_2_bar_3_bar_60 - location + loc_bar__minus_9_bar_6_bar_0_bar__minus_15 - location + loc_bar__minus_8_bar_6_bar_0_bar_60 - location + loc_bar__minus_6_bar_6_bar_0_bar_60 - location + loc_bar__minus_6_bar_2_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin SinkBasinType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 ToiletPaperHangerType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 ToiletType) + (receptacleType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin BathtubBasinType) + (receptacleType Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 HandTowelHolderType) + (receptacleType Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 DrawerType) + (receptacleType GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 GarbageCanType) + (receptacleType CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 CounterTopType) + (objectType SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 SoapBarType) + (objectType Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 BathtubType) + (objectType DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 DishSpongeType) + (objectType SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 SprayBottleType) + (objectType Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 ClothType) + (objectType Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 CandleType) + (objectType HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelType) + (objectType Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 ClothType) + (objectType TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 TissueBoxType) + (objectType SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 SprayBottleType) + (objectType Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 ClothType) + (objectType LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 LightSwitchType) + (objectType SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 SprayBottleType) + (objectType ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 SinkType) + (objectType ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 ToiletPaperType) + (objectType Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 MirrorType) + (objectType SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 SoapBarType) + (objectType Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelType) + (objectType Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 PlungerType) + (objectType ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 ToiletPaperType) + (objectType SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 SoapBottleType) + (objectType PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 PaperTowelRollType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType DishSpongeType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType DishSpongeType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain BathtubBasinType DishSpongeType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType DishSpongeType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType DishSpongeType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType DishSpongeType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (pickupable SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53) + (pickupable DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78) + (pickupable SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70) + (pickupable Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97) + (pickupable Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49) + (pickupable HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24) + (pickupable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70) + (pickupable TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76) + (pickupable SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70) + (pickupable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22) + (pickupable SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47) + (pickupable ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71) + (pickupable ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70) + (pickupable SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59) + (pickupable Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46) + (pickupable Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53) + (pickupable ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75) + (pickupable SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16) + (pickupable PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53) + + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62) + (openable Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + + (atLocation agent1 loc_bar__minus_6_bar_2_bar_2_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53) + (cleanable DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78) + (cleanable Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97) + (cleanable Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70) + (cleanable Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22) + (cleanable SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59) + + + + + + + + + + + (inReceptacle Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62) + (inReceptacle SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59) + (inReceptacle SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62) + (inReceptacle Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56) + (inReceptacle HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28) + (inReceptacle DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31) + (inReceptacle Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + (inReceptacle Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin) + + + (receptacleAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64_bar_BathtubBasin loc_bar__minus_11_bar_2_bar_3_bar_60) + (receptacleAtLocation CounterTop_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__minus_00_dot_59 loc_bar__minus_9_bar_1_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_44_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_8_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_89_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_10_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_34_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_7_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_27_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_79_bar__plus_00_dot_53_bar__minus_00_dot_62 loc_bar__minus_9_bar_2_bar_2_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_59_bar__plus_00_dot_00_bar__plus_02_dot_06 loc_bar__minus_6_bar_6_bar_0_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_28_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_5_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_58_bar__plus_01_dot_79_bar__plus_02_dot_28 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (receptacleAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03_bar_SinkBasin loc_bar__minus_7_bar_6_bar_0_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_43_bar__plus_00_dot_94_bar__plus_00_dot_19 loc_bar__minus_4_bar_1_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_72_bar__plus_00_dot_00_bar__minus_00_dot_31 loc_bar__minus_5_bar_0_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__minus_03_dot_66_bar__plus_01_dot_55_bar__minus_00_dot_56 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Cloth_bar__minus_03_dot_60_bar__plus_00_dot_04_bar__plus_00_dot_97 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_89_bar__plus_00_dot_70_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_35_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_03_dot_69_bar__plus_00_dot_04_bar__plus_00_dot_22 loc_bar__minus_11_bar_2_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_92_bar__plus_00_dot_44_bar__plus_02_dot_03 loc_bar__minus_8_bar_6_bar_0_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_91_bar__plus_01_dot_75_bar__plus_02_dot_28 loc_bar__minus_8_bar_6_bar_0_bar_0) + (objectAtLocation Bathtub_bar__minus_03_dot_71_bar__plus_00_dot_34_bar__plus_00_dot_64 loc_bar__minus_11_bar_3_bar_3_bar_60) + (objectAtLocation Towel_bar__minus_03_dot_66_bar__plus_01_dot_57_bar__minus_00_dot_46 loc_bar__minus_11_bar_0_bar_3_bar_0) + (objectAtLocation Candle_bar__minus_02_dot_49_bar__plus_00_dot_18_bar__minus_00_dot_49 loc_bar__minus_7_bar_2_bar_2_bar_45) + (objectAtLocation HandTowel_bar__minus_02_dot_58_bar__plus_01_dot_68_bar__plus_02_dot_24 loc_bar__minus_9_bar_6_bar_0_bar__minus_15) + (objectAtLocation SoapBar_bar__minus_02_dot_89_bar__plus_00_dot_44_bar__minus_00_dot_59 loc_bar__minus_9_bar_2_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_38_bar__plus_00_dot_70_bar__minus_00_dot_75 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_09_bar__plus_00_dot_00_bar__minus_00_dot_53 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_02_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_47 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_76_bar__plus_01_dot_10_bar__plus_02_dot_16 loc_bar__minus_7_bar_6_bar_0_bar_60) + (objectAtLocation TissueBox_bar__minus_01_dot_67_bar__plus_00_dot_70_bar__minus_00_dot_76 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation ToiletPaper_bar__minus_02_dot_58_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_56_bar__plus_01_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_7_bar_0_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_01_dot_67_bar__plus_00_dot_81_bar__minus_00_dot_53 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation ScrubBrush_bar__minus_01_dot_04_bar__plus_00_dot_00_bar__minus_00_dot_71 loc_bar__minus_5_bar_0_bar_2_bar_60) + (objectAtLocation Cloth_bar__minus_02_dot_12_bar__plus_00_dot_70_bar__minus_00_dot_70 loc_bar__minus_9_bar_1_bar_2_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__minus_00_dot_78 loc_bar__minus_5_bar_0_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o DishSpongeType) + (receptacleType ?r DrawerType) + (isClean ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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to the toilet on the left.", + "Pick up the sponge on the toilet. ", + "Bring the the sponge to the sink behind you to the right. ", + "Wash the sponge in the sink. ", + "Take the sponge to the counter of drawers opposite the sink.", + "Put the washed sponge in the top left drawer. " + ], + "task_desc": "Put a washed sponge in the top left drawer. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3BV8HQ2ZZZSOJGY7E48EIK3VUK06A7", + "high_descs": [ + "Go to the toilet in front of you.", + "Pick up the sponge from the back of the toilet.", + "Turn right and go forward to the tab, then turn right and go to the wall, then turn right to face the sink.", + "Wash the sponge in the sink.", + "Turn right and walk to the drawers ahead.", + "Put the sponge in the top left drawer." + ], + "task_desc": "Put a clean sponge in the drawer.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3BEFOD78W9KB6U3ISJ54UDEHSAEM4H", + "high_descs": [ + "Turn to your left and go to the wall, then turn to your right and get as close to the back of the toilet as you can. ", + "Pick up the green sponge on the back of the toilet. ", + "Turn to your right and walk to the bath tub, then turn right and go across the room to the sink. ", + "Place the sponge in the sink, turn the water on, rinse the sponge out, turn the water off, and remove the sponge from the sink. ", + "Turn around and go across the bathroom to the counter. ", + "Place the sponge in the second, top drawer to the right of the toilet. " + ], + "task_desc": "Put a clean sponge in the drawer. ", + "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-Egg-None-DiningTable-24/trial_T20190907_185356_395367/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185356_395367/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3e6740167a9dcd6dfb8dd702defa5e530e8cfc7b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185356_395367/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 egg in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_185356_395367)\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_49_bar__plus_01_dot_42_bar__plus_03_dot_84 - object\n Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 - object\n Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22 - object\n Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90 - object\n Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28 - object\n ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object\n ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45 - object\n DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61 - object\n DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 - object\n Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29 - object\n Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35 - object\n Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24 - object\n Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_25 - object\n Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33 - object\n Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object\n Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56 - object\n Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object\n Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97 - object\n Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__plus_00_dot_88_bar__plus_00_dot_93_bar__plus_00_dot_85 - object\n PepperShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_29 - object\n Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17 - object\n Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 - object\n SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_04_dot_01 - object\n SaltShaker_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_98 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object\n SoapBottle_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 - object\n SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_03_dot_41 - object\n Spatula_bar__plus_01_dot_02_bar__plus_00_dot_84_bar__plus_02_dot_11 - object\n Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_8_bar_10_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType 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(pickupable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (pickupable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98)\n (pickupable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (pickupable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (pickupable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90)\n (pickupable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90)\n (pickupable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71)\n (pickupable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (pickupable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (pickupable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (pickupable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92)\n (pickupable Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24)\n (pickupable 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PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_29)\n (pickupable PepperShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (isReceptacleObject Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (isReceptacleObject Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22)\n (isReceptacleObject Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97)\n (isReceptacleObject Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (isReceptacleObject Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (isReceptacleObject Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90)\n (isReceptacleObject Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71)\n (isReceptacleObject Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (isReceptacleObject Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (isReceptacleObject Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45)\n (isReceptacleObject Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33)\n (openable Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (openable Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69)\n (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (openable Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74)\n (openable Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74)\n (openable Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18)\n (openable Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06)\n (openable Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17)\n (openable Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (openable Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (openable Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (openable Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (openable Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56)\n (openable Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n \n (atLocation agent1 loc_bar__minus_8_bar_10_bar_1_bar_30)\n \n (cleanable ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (cleanable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (cleanable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56)\n (cleanable Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22)\n (cleanable Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_25)\n (cleanable ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56)\n (cleanable Spatula_bar__plus_01_dot_02_bar__plus_00_dot_84_bar__plus_02_dot_11)\n (cleanable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35)\n (cleanable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97)\n (cleanable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (cleanable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (cleanable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90)\n (cleanable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90)\n (cleanable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71)\n (cleanable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (cleanable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (cleanable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92)\n (cleanable Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24)\n (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (cleanable ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (cleanable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45)\n (cleanable Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77)\n (cleanable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29)\n (cleanable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33)\n (cleanable DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61)\n (cleanable Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33)\n (cleanable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22)\n \n (heatable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (heatable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35)\n (heatable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97)\n (heatable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (heatable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98)\n (heatable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (heatable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (heatable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (heatable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45)\n (heatable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29)\n (heatable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33)\n (heatable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28)\n (coolable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (coolable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56)\n (coolable Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22)\n (coolable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35)\n (coolable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97)\n (coolable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (coolable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90)\n (coolable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90)\n (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71)\n (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (coolable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45)\n (coolable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29)\n (coolable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33)\n (coolable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22)\n (coolable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56)\n (sliceable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35)\n (sliceable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84)\n (sliceable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98)\n (sliceable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90)\n (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (sliceable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17)\n (sliceable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29)\n (sliceable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22)\n (sliceable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28)\n \n (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (inReceptacle Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_29 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06)\n (inReceptacle DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_88_bar__plus_00_dot_93_bar__plus_00_dot_85 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle SaltShaker_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_98 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spatula_bar__plus_01_dot_02_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)\n (inReceptacle SoapBottle_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38)\n (inReceptacle ButterKnife_bar__minus_01_dot_19_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)\n (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)\n (inReceptacle ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Egg_bar__minus_01_dot_19_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)\n (inReceptacle PepperShaker_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)\n (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)\n (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (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)\n (inReceptacle ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (inReceptacle SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_04_dot_01 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03)\n (inReceptacle Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (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)\n (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_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)\n (objectAtLocation SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_04_dot_01 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_03_dot_41 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (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)\n (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (objectAtLocation Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (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)\n (objectAtLocation Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (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)\n (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)\n (objectAtLocation Spatula_bar__plus_01_dot_02_bar__plus_00_dot_84_bar__plus_02_dot_11 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_88_bar__plus_00_dot_93_bar__plus_00_dot_85 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_98 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (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)\n (objectAtLocation PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_29 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o EggType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take egg 1 from countertop 1", "go to sinkbasin 1", "clean egg 1 with sinkbasin 1", "go to diningtable 1", "move egg 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-Egg-None-DiningTable-24/trial_T20190907_185356_395367/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185356_395367/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a632ea132a414856335aa65058b1b8dc3e87fd4d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185356_395367/initial_state.pddl @@ -0,0 +1,1131 @@ + +(define (problem plan_trial_T20190907_185356_395367) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_49_bar__plus_01_dot_42_bar__plus_03_dot_84 - object + Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 - object + Bowl_bar__minus_02_dot_52_bar__plus_00_dot_99_bar__plus_02_dot_22 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90 - object + Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28 - object + 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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) + 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Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35) + (cleanable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97) + (cleanable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84) + (cleanable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90) + (cleanable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90) + (cleanable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90) + (cleanable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71) + (cleanable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (cleanable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17) + (cleanable DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92) + (cleanable Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24) + (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38) + (cleanable ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35) + (cleanable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45) + (cleanable Spoon_bar__minus_01_dot_91_bar__plus_00_dot_70_bar__plus_03_dot_77) + (cleanable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29) + (cleanable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33) + (cleanable DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61) + (cleanable Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33) + (cleanable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22) + + (heatable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90) + (heatable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35) + (heatable Mug_bar__minus_01_dot_49_bar__plus_01_dot_35_bar__plus_03_dot_97) + (heatable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84) + (heatable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98) + (heatable Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90) + (heatable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90) + (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (heatable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17) + (heatable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45) + (heatable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29) + (heatable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33) + (heatable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28) + (coolable 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Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (coolable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17) + (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38) + (coolable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_45) + (coolable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29) + (coolable Mug_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__plus_02_dot_33) + (coolable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22) + (coolable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28) + + + + + + (sliceable Lettuce_bar__minus_01_dot_19_bar__plus_00_dot_98_bar__plus_01_dot_56) + (sliceable Egg_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_35) + (sliceable Apple_bar__minus_01_dot_49_bar__plus_01_dot_42_bar__plus_03_dot_84) + (sliceable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98) + (sliceable Egg_bar__minus_01_dot_59_bar__plus_01_dot_39_bar__plus_03_dot_90) + (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (sliceable Potato_bar__minus_02_dot_61_bar__plus_01_dot_65_bar__plus_02_dot_17) + (sliceable Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29) + (sliceable Lettuce_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_22) + (sliceable Bread_bar__minus_02_dot_64_bar__plus_01_dot_24_bar__plus_02_dot_28) + + (inReceptacle Fork_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_24 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20) + (inReceptacle Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_01_dot_85_bar__plus_01_dot_29 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06) + (inReceptacle DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_61 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53) + (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_88_bar__plus_00_dot_93_bar__plus_00_dot_85 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle SaltShaker_bar__minus_02_dot_10_bar__plus_01_dot_40_bar__plus_03_dot_98 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73) + (inReceptacle Egg_bar__plus_00_dot_95_bar__plus_00_dot_86_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Spatula_bar__plus_01_dot_02_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_58_bar__plus_01_dot_63_bar__plus_02_dot_76 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57) + (inReceptacle Plate_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38) + (inReceptacle ButterKnife_bar__minus_01_dot_19_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 ButterKnife_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 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_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Egg_bar__minus_01_dot_19_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 PepperShaker_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 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 Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_71 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52) + (inReceptacle Knife_bar__minus_02_dot_49_bar__plus_00_dot_85_bar__plus_03_dot_33 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 ButterKnife_bar__minus_01_dot_82_bar__plus_00_dot_82_bar__plus_03_dot_56 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle SoapBottle_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_03_dot_41 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_90 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69) + (inReceptacle SaltShaker_bar__minus_01_dot_31_bar__plus_01_dot_68_bar__plus_04_dot_01 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-2.492033, + "y": 0.846180558, + "z": 3.33106351 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -1.4866339, + "y": 1.35451162, + "z": 3.96729374 + }, + "rotation": { + "x": 0.0, + "y": 269.999664, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -1.2937814, + "y": 0.1264711, + "z": 3.713098 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3073830407, + "scene_num": 24 + }, + "task_id": "trial_T20190907_185356_395367", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1OWHPMKE7YAGL_3A1COHJ8NMCICS3BHHQNIY2OJHB8HI", + "high_descs": [ + "Go forward and hang a left, go forward to the microwave. ", + "Open the microwave, take the egg out of the microwave and close the door. ", + "Turn to the left, go forward, turn right towards the leftmost sink. ", + "Put the egg in the leftmost sink, rinse it off, and pick it back up.", + "Turn around and cross the room to the white table that has the coffee maker on it. ", + "Put the egg on the table at the bottom of the butter knife. " + ], + "task_desc": "Put a clean egg on a table. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AUTYWXILTACCR_3TDXMTX3CEBV49V7UKBAYW7CD0B6I0", + "high_descs": [ + "Turn left and walk over to the sink.", + "Take the egg from the microwave.", + "Look down to face the sink on the left.", + "Wash the egg in the sink, then pick it up again.", + "Turn around and walk to the table behind you.", + "Place the egg on the table, in front of the fork." + ], + "task_desc": "Place a washed egg on a table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3TPZPLC3M3TOOCVTOD3W0QW4PMYP3H", + "high_descs": [ + "turn left and head for the microwave", + "take out an egg from the microwave", + "move towards the sink under the microwave", + "place the egg in the sink and cool it with water", + "turn around towards the dining table", + "drop the egg on the dining table" + ], + "task_desc": "drop a cool egg on the dining table", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4a618befd7e6ede40f62257a91b84e06bede7e7d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/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 egg in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_185422_664403)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39 - object\n Bowl_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_53 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__minus_01_dot_58_bar__plus_00_dot_82_bar__plus_03_dot_55 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object\n DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_46 - object\n DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 - object\n DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94 - object\n Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 - object\n Fork_bar__plus_01_dot_03_bar__plus_00_dot_81_bar__plus_02_dot_46 - object\n Fork_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52 - object\n Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__plus_00_dot_90_bar__plus_00_dot_13_bar__plus_02_dot_95 - object\n PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 - object\n PepperShaker_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98 - object\n Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 - object\n Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93 - object\n Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n SaltShaker_bar__plus_00_dot_70_bar__plus_00_dot_12_bar__plus_02_dot_65 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object\n SoapBottle_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90 - object\n Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_35 - object\n Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 - object\n Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_7_bar_11_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType)\n (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (objectType LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 LightSwitchType)\n (objectType Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52 KnifeType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType)\n (objectType Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 ForkType)\n (objectType Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 ChairType)\n (objectType Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90 SpatulaType)\n (objectType Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 EggType)\n (objectType Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39 AppleType)\n (objectType DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 DishSpongeType)\n (objectType Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 CupType)\n (objectType Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 PanType)\n (objectType Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94 SpoonType)\n (objectType Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 TomatoType)\n (objectType Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94 EggType)\n (objectType SoapBottle_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 SoapBottleType)\n (objectType Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 WindowType)\n (objectType StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 StoveKnobType)\n (objectType Fork_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 ForkType)\n (objectType Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 LettuceType)\n (objectType StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 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Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n \n (atLocation agent1 loc_bar__minus_7_bar_11_bar_0_bar_30)\n \n (cleanable Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52)\n (cleanable Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16)\n (cleanable Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90)\n (cleanable Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93)\n (cleanable Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (cleanable DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (cleanable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94)\n (cleanable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28)\n (cleanable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94)\n (cleanable Fork_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25)\n (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (cleanable Fork_bar__plus_01_dot_03_bar__plus_00_dot_81_bar__plus_02_dot_46)\n (cleanable Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72)\n (cleanable Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95)\n (cleanable DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98)\n (cleanable ButterKnife_bar__minus_01_dot_58_bar__plus_00_dot_82_bar__plus_03_dot_55)\n (cleanable Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_35)\n (cleanable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (cleanable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17)\n (cleanable 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Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (heatable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93)\n (coolable Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93)\n (coolable Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (coolable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28)\n (coolable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94)\n (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (coolable Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72)\n (coolable Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95)\n (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (coolable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17)\n (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (coolable Bowl_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_53)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93)\n \n \n \n \n \n (sliceable Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93)\n (sliceable Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39)\n (sliceable Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28)\n (sliceable Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94)\n (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14)\n (sliceable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17)\n (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (sliceable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93)\n \n (inReceptacle Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_46 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (inReceptacle Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle PepperShaker_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)\n (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)\n (inReceptacle Fork_bar__plus_01_dot_03_bar__plus_00_dot_81_bar__plus_02_dot_46 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle SaltShaker_bar__plus_00_dot_70_bar__plus_00_dot_12_bar__plus_02_dot_65 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (inReceptacle DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (inReceptacle Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (inReceptacle Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle Bowl_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_53 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69)\n (inReceptacle Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18)\n (inReceptacle DishSponge_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)\n (inReceptacle Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_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)\n (inReceptacle Spatula_bar__minus_01_dot_32_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)\n (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Fork_bar__minus_00_dot_79_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)\n (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)\n (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)\n (inReceptacle Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_01_dot_58_bar__plus_00_dot_82_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (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)\n (inReceptacle Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_90_bar__plus_00_dot_13_bar__plus_02_dot_95 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation DishSponge_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)\n (objectAtLocation Tomato_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_03_bar__plus_00_dot_81_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 loc_bar_0_bar_7_bar_2_bar_45)\n (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)\n (objectAtLocation Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (objectAtLocation Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_90_bar__plus_00_dot_13_bar__plus_02_dot_95 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation SoapBottle_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)\n (objectAtLocation Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (objectAtLocation SaltShaker_bar__plus_00_dot_70_bar__plus_00_dot_12_bar__plus_02_dot_65 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (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)\n (objectAtLocation PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_58_bar__plus_00_dot_82_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_46 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_68_bar__plus_01_dot_67_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Bowl_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_53 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o EggType)\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 egg 2 from diningtable 1", "go to sinkbasin 1", "clean egg 2 with sinkbasin 1", "go to diningtable 1", "move egg 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..246e129e3c7365d89d78618bb22a0481aecc7151 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190907_185422_664403/initial_state.pddl @@ -0,0 +1,1075 @@ + +(define (problem plan_trial_T20190907_185422_664403) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_68_bar__plus_01_dot_67_bar__plus_02_dot_39 - object + Bowl_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_53 - object + Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object + ButterKnife_bar__minus_01_dot_58_bar__plus_00_dot_82_bar__plus_03_dot_55 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_46 - object + DishSponge_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 - object + DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_00_dot_94 - object + Egg_bar__minus_01_dot_49_bar__plus_01_dot_40_bar__plus_03_dot_93 - 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_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 - object + Fork_bar__plus_01_dot_03_bar__plus_00_dot_81_bar__plus_02_dot_46 - object + Fork_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 - object + Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_52 - object + Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_14 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__plus_00_dot_90_bar__plus_00_dot_13_bar__plus_02_dot_95 - object + PepperShaker_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_63 - object + PepperShaker_bar__minus_01_dot_85_bar__plus_01_dot_68_bar__plus_03_dot_98 - object + Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 - object + Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_93 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + SaltShaker_bar__plus_00_dot_70_bar__plus_00_dot_12_bar__plus_02_dot_65 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_00_dot_90 - object + Spatula_bar__minus_01_dot_32_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_94 - 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_52_bar__plus_00_dot_84_bar__plus_02_dot_28 - object + Tomato_bar__minus_02_dot_64_bar__plus_01_dot_06_bar__plus_02_dot_17 - 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 + 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"trial_T20190907_185422_664403", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1AKL5YH9NLD2V_3A1COHJ8NMCICS3BHHQNIY2OJGS8HX", + "high_descs": [ + "Walk to the microwave above the sink.", + "Pick up the egg in the microwave.", + "Walk to the sink on the left.", + "Rinse the egg in the sink and then pick the clean egg up.", + "Turn around and walk to the white table with the coffee machine on it.", + "Place the egg in front of the wine glass on the table." + ], + "task_desc": "Place a washed egg in front of the wine glass on the white table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3FIUS151DYJJ5BEIG9KTPB7LSY2GGU", + "high_descs": [ + "Walk slightly to the right to the microwave.", + "Open the microwave and take out the egg on the right, then close the microwave.", + "Walk slightly to the left to the left sink basin.", + "Put the egg in the left sink basin, rinse it off, and take it back out.", + "Turn around and walk forward to the dining table.", + "Put the egg on the dining table, to the left and in front of the bottle of soap." + ], + "task_desc": "Put a cleaned egg on a dining table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3K4J6M3CXHAIVK1FU9SJTPWIU4LGAG", + "high_descs": [ + "Move to the sink to the right of you", + "Pick up an egg from the microwave", + "Move to the sink ahead of you", + "Clean the egg in the sink", + "Move to the table behind you", + "Put the egg on the table" + ], + "task_desc": "Put a cleaned egg on the table across from the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190918_202435_944015/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190918_202435_944015/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5fbe6352e125207b79034aeab0729db086a4e9b4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190918_202435_944015/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 egg in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_202435_944015)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35 - object\n Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14 - object\n Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17 - object\n Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - object\n Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69 - object\n Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22 - object\n DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45 - object\n DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 - object\n Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 - object\n Fork_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_01_dot_03 - object\n Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03 - object\n Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__plus_01_dot_02_bar__plus_00_dot_93_bar__plus_00_dot_85 - object\n PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 - object\n Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 - object\n Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17 - object\n Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17 - object\n Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_12 - object\n SaltShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_00_dot_94 - object\n SaltShaker_bar__minus_02_dot_47_bar__plus_01_dot_85_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object\n SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_04 - object\n Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 - object\n Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Spoon_bar__minus_02_dot_20_bar__plus_00_dot_70_bar__plus_03_dot_63 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_8_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType 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Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36)\n (cleanable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17)\n (cleanable Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69)\n (cleanable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (cleanable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14)\n (cleanable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07)\n (cleanable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11)\n (cleanable DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45)\n (cleanable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35)\n (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (cleanable DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (cleanable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (cleanable Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03)\n \n (heatable Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17)\n (heatable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17)\n (heatable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (heatable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68)\n (heatable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22)\n (heatable Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17)\n (heatable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (heatable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17)\n (heatable Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69)\n (heatable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (heatable 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Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (inReceptacle Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Fork_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_12 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_02_bar__plus_00_dot_93_bar__plus_00_dot_85 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle 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)\n (inReceptacle Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (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)\n (inReceptacle Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56)\n (inReceptacle Spoon_bar__minus_02_dot_20_bar__plus_00_dot_70_bar__plus_03_dot_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66)\n (inReceptacle DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18)\n (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)\n (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)\n (inReceptacle Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle DishSponge_bar__minus_01_dot_05_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)\n (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle ButterKnife_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)\n (inReceptacle Spoon_bar__minus_00_dot_79_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)\n (inReceptacle PepperShaker_bar__minus_00_dot_92_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)\n (inReceptacle Cup_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)\n (inReceptacle SoapBottle_bar__minus_00_dot_66_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_52_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)\n (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)\n (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)\n (inReceptacle Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (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)\n (inReceptacle SaltShaker_bar__minus_02_dot_47_bar__plus_01_dot_85_bar__plus_02_dot_01 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03)\n (inReceptacle Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_47_bar__plus_01_dot_85_bar__plus_02_dot_01 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Cup_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)\n (objectAtLocation Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_02_dot_20_bar__plus_00_dot_70_bar__plus_03_dot_63 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (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)\n (objectAtLocation Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_02_bar__plus_00_dot_93_bar__plus_00_dot_85 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (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)\n (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)\n (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)\n (objectAtLocation PepperShaker_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation ButterKnife_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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (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)\n (objectAtLocation Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39 loc_bar__minus_7_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o EggType)\n (receptacleType ?r DiningTableType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take egg 1 from fridge 1", "go to sinkbasin 1", "clean egg 1 with sinkbasin 1", "go to diningtable 1", "move egg 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-Egg-None-DiningTable-24/trial_T20190918_202435_944015/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190918_202435_944015/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..004d963577ab1b8efa40b6a1d7809b3eee103835 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Egg-None-DiningTable-24/trial_T20190918_202435_944015/initial_state.pddl @@ -0,0 +1,1133 @@ + +(define (problem plan_trial_T20190918_202435_944015) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35 - object + Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14 - object + 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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__minus_8_bar_6_bar_1_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 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Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69) + (isReceptacleObject Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (isReceptacleObject Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (openable Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36) + (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20) + (openable Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69) + (openable Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53) + (openable Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74) + (openable Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74) + (openable Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18) + (openable Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06) + (openable Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73) + (openable Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17) + (openable Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (openable Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (openable Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73) + (openable Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73) + (openable 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__minus_8_bar_6_bar_1_bar_30) + + (cleanable Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16) + (cleanable Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17) + (cleanable Spoon_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_25) + (cleanable ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_25) + (cleanable Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39) + (cleanable ButterKnife_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_04) + (cleanable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17) + (cleanable Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45) + (cleanable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90) + (cleanable Fork_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_01_dot_03) + (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (cleanable Spoon_bar__minus_02_dot_20_bar__plus_00_dot_70_bar__plus_03_dot_63) + (cleanable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68) + (cleanable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22) + (cleanable DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95) + (cleanable Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17) + (cleanable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14) + (cleanable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (cleanable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (cleanable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17) + (cleanable Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69) + (cleanable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56) + (cleanable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14) + (cleanable Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07) + (cleanable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11) + (cleanable DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45) + (cleanable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35) + (cleanable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (cleanable DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56) + (cleanable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (cleanable Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_01_dot_03) + + (heatable Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17) + (heatable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17) + (heatable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90) + (heatable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68) + (heatable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22) + (heatable Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17) + (heatable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14) + (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (heatable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17) + (heatable Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69) + (heatable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56) + (heatable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14) + (heatable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11) + (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (heatable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35) + (heatable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + (coolable Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17) + (coolable Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39) + (coolable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17) + (coolable Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68) + (coolable Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22) + (coolable Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17) + (coolable Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14) + (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20) + (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (coolable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17) + (coolable Cup_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_69) + (coolable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56) + (coolable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14) + (coolable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11) + (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (coolable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90) + + (isCool Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17) + + + + (sliceable Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17) + (sliceable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_17) + (sliceable Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17) + (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (sliceable Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17) + (sliceable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_56) + (sliceable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14) + (sliceable Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11) + (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_96_bar__plus_01_dot_35) + + (inReceptacle Fork_bar__plus_00_dot_81_bar__plus_00_dot_69_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20) + (inReceptacle Plate_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Fork_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_01_dot_03 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle SaltShaker_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_01_dot_12 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_02_bar__plus_00_dot_93_bar__plus_00_dot_85 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Spatula_bar__plus_01_dot_10_bar__plus_00_dot_84_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle 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 Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73) + (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 Tomato_bar__plus_00_dot_95_bar__plus_00_dot_89_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_45 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56) + (inReceptacle Spoon_bar__minus_02_dot_20_bar__plus_00_dot_70_bar__plus_03_dot_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66) + (inReceptacle DishSponge_bar__minus_02_dot_54_bar__plus_01_dot_63_bar__plus_02_dot_95 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18) + (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 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 Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_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_92_bar__plus_00_dot_96_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle DishSponge_bar__minus_01_dot_05_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_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_14 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle ButterKnife_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 Spoon_bar__minus_00_dot_79_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 PepperShaker_bar__minus_00_dot_92_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 Cup_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 SoapBottle_bar__minus_00_dot_66_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 ButterKnife_bar__minus_00_dot_52_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 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 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 Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52) + (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 SaltShaker_bar__minus_02_dot_47_bar__plus_01_dot_85_bar__plus_02_dot_01 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03) + (inReceptacle Potato_bar__minus_02_dot_58_bar__plus_01_dot_04_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Potato_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Cup_bar__minus_02_dot_40_bar__plus_00_dot_77_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_41_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Egg_bar__minus_02_dot_40_bar__plus_01_dot_03_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle 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"A2A028LRDJB7ZB_30X31N5D667LLPA6P9M0I3FLIGOSAN", + "high_descs": [ + "Turn to your left and face the fridge on your left", + "Open the fridge and pick up the egg inside then close the fridge", + "Turn to your right then cross the room head to the sink ", + "Put the egg on the left side of the sink", + "Pick up the egg and turn to your right move forward then to your right walk straight to the table", + "Put down the egg beside the sponge on the table" + ], + "task_desc": "Put the cold egg on the table", + "votes": [ + 1, + 0, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_39LOEL67OVM3IKWC2W1LE41E0HX38K", + "high_descs": [ + "Turn left walk forward slightly then turn left and face to the refrigerator", + "Open the refrigerator door and pick up the brown egg on the shelf and close the door", + "Turn around walk straight then turn left and face the sink", + "Rinse the egg off in the sink", + "Turn around and walk straight to the white table", + "Place the brown egg on the white table" + ], + "task_desc": "Rinsing off a chilled egg taking it to a table", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c7680ab396819002d31f8c8b9cf9e8e624b4ba0c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some plate and put it in 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_114549_185841)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 - object\n Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 - object\n Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Book_bar__minus_00_dot_20_bar__plus_01_dot_11_bar_00_dot_00 - object\n Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Bowl_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_20 - object\n Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_76 - object\n Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__minus_00_dot_25 - object\n Bread_bar__minus_02_dot_08_bar__plus_00_dot_61_bar__plus_01_dot_25 - object\n ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object\n CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_64_bar__minus_02_dot_46 - object\n CreditCard_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n CreditCard_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_70 - object\n Cup_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 - object\n DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n DishSponge_bar__minus_00_dot_96_bar__plus_01_dot_66_bar__minus_02_dot_68 - object\n DishSponge_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_37 - object\n Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_45 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_89_bar__plus_00_dot_65_bar__minus_02_dot_38 - object\n Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_61 - object\n Knife_bar__plus_00_dot_22_bar__plus_01_dot_14_bar__minus_00_dot_51 - object\n Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__minus_00_dot_51 - 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_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object\n Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_51 - object\n PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n Plate_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 - object\n Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_01_dot_00 - object\n Potato_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_98 - object\n Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 - object\n Pot_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_39 - object\n Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Pot_bar__minus_02_dot_04_bar__plus_01_dot_51_bar__plus_01_dot_18 - object\n SaltShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_56 - object\n SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_53 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_41 - object\n Spatula_bar__plus_00_dot_95_bar__plus_00_dot_79_bar__minus_02_dot_38 - object\n Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_29 - object\n Spatula_bar__minus_01_dot_94_bar__plus_00_dot_93_bar__minus_02_dot_26 - object\n Spoon_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Statue_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - object\n StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 - object\n Tomato_bar__minus_01_dot_98_bar__plus_01_dot_35_bar__plus_00_dot_93 - object\n Tomato_bar__minus_02_dot_00_bar__plus_00_dot_84_bar__plus_00_dot_92 - object\n Tomato_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_04 - object\n Vase_bar__plus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n Vase_bar__plus_01_dot_79_bar__plus_00_dot_55_bar__minus_02_dot_67 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n WineBottle_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 - receptacle\n Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle\n Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle\n CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 - receptacle\n CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 - receptacle\n CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 - receptacle\n CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - receptacle\n Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 - receptacle\n Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle\n GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 - receptacle\n Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 - receptacle\n Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 - receptacle\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle\n StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle\n StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle\n StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle\n Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 - receptacle\n loc_bar_1_bar__minus_7_bar_1_bar_45 - location\n loc_bar__minus_5_bar_2_bar_3_bar__minus_30 - location\n loc_bar_7_bar__minus_5_bar_2_bar_30 - location\n loc_bar_7_bar__minus_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_3_bar_15 - location\n loc_bar__minus_4_bar_2_bar_3_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_0 - location\n loc_bar_3_bar__minus_7_bar_2_bar_45 - location\n loc_bar_2_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location\n loc_bar_3_bar_0_bar_0_bar_60 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location\n loc_bar_5_bar__minus_6_bar_2_bar_45 - location\n loc_bar__minus_4_bar_3_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_7_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_5_bar_1_bar_3_bar_45 - location\n loc_bar_6_bar__minus_4_bar_2_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar_5_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 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 CabinetType)\n (receptacleType 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Potato_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_98)\n (sliceable Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_76)\n (sliceable Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_45)\n (sliceable Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61)\n (sliceable Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__minus_00_dot_51)\n \n (inReceptacle Spatula_bar__plus_00_dot_95_bar__plus_00_dot_79_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20)\n (inReceptacle Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_29 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20)\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 Bread_bar__minus_00_dot_47_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 DishSponge_bar__plus_00_dot_22_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 WineBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Statue_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__minus_00_dot_51 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_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 Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bowl_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__plus_00_dot_22_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 PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Bowl_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 SaltShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle Fork_bar__plus_00_dot_89_bar__plus_00_dot_65_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle CreditCard_bar__plus_00_dot_95_bar__plus_00_dot_64_bar__minus_02_dot_46 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle Bowl_bar__minus_01_dot_77_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 Pan_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 DishSponge_bar__minus_00_dot_96_bar__plus_01_dot_66_bar__minus_02_dot_68 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_53 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\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 Plate_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Cup_bar__minus_00_dot_82_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__plus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle CreditCard_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle 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 WineBottle_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle SaltShaker_bar__minus_01_dot_00_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_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle DishSponge_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spatula_bar__minus_01_dot_94_bar__plus_00_dot_93_bar__minus_02_dot_26 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_58 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle CreditCard_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\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 Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_45 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_51 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle SoapBottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_41 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Vase_bar__plus_01_dot_79_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 Kettle_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_61 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56)\n (inReceptacle Potato_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)\n (inReceptacle Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle 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 Pot_bar__minus_02_dot_04_bar__plus_01_dot_51_bar__plus_01_dot_18 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle 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 Tomato_bar__minus_02_dot_00_bar__plus_00_dot_84_bar__plus_00_dot_92 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_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bread_bar__minus_02_dot_08_bar__plus_00_dot_61_bar__plus_01_dot_25 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 \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 DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_77_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_94_bar__plus_00_dot_93_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 WineBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\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_95_bar__plus_00_dot_64_bar__minus_02_dot_46 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_04 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_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Potato_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)\n (objectAtLocation Bread_bar__minus_02_dot_08_bar__plus_00_dot_61_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_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 Bowl_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 DishSponge_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_37 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation WineBottle_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 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__plus_00_dot_95_bar__plus_00_dot_79_bar__minus_02_dot_38 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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 CreditCard_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation 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_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_22_bar__plus_01_dot_14_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_89_bar__plus_00_dot_65_bar__minus_02_dot_38 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_41 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Kettle_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_61 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_00_bar__plus_00_dot_84_bar__plus_00_dot_92 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Vase_bar__plus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_60 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_45 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation CreditCard_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Statue_bar__plus_00_dot_08_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_44_bar__plus_00_dot_91_bar__minus_02_dot_71 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_04_bar__plus_01_dot_51_bar__plus_01_dot_18 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_29 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_51 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_01_dot_79_bar__plus_00_dot_55_bar__minus_02_dot_67 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (objectAtLocation Bowl_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 SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_53 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_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 ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (objectAtLocation DishSponge_bar__minus_00_dot_96_bar__plus_01_dot_66_bar__minus_02_dot_68 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to fridge 1", "open fridge 1", "take plate 1 from fridge 1", "go to sinkbasin 1", "clean plate 1 with sinkbasin 1", "go to shelf 2", "move plate 1 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0eccf0d6866da3b518f49fa9d1eb2f8491b39a02 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/initial_state.pddl @@ -0,0 +1,1235 @@ + +(define (problem plan_trial_T20190907_114549_185841) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_71 - object + Apple_bar__minus_00_dot_12_bar__plus_01_dot_84_bar__minus_02_dot_55 - object + Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Book_bar__minus_00_dot_20_bar__plus_01_dot_11_bar_00_dot_00 - object + Bowl_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Bowl_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Bowl_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_00_dot_20 - object + Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__plus_00_dot_76 - object + Bread_bar__minus_00_dot_47_bar__plus_01_dot_18_bar__minus_00_dot_25 - object + Bread_bar__minus_02_dot_08_bar__plus_00_dot_61_bar__plus_01_dot_25 - object + ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 - 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_95_bar__plus_00_dot_64_bar__minus_02_dot_46 - object + CreditCard_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + CreditCard_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_70 - object + Cup_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 - object + DishSponge_bar__plus_00_dot_22_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + DishSponge_bar__minus_00_dot_96_bar__plus_01_dot_66_bar__minus_02_dot_68 - object + DishSponge_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_37 - object + Egg_bar__minus_00_dot_33_bar__plus_01_dot_83_bar__minus_02_dot_45 - 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_65_bar__minus_02_dot_38 - object + Glassbottle_bar__minus_01_dot_94_bar__plus_00_dot_05_bar__plus_02_dot_08 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__plus_01_dot_58_bar__plus_00_dot_55_bar__minus_02_dot_61 - object + Knife_bar__plus_00_dot_22_bar__plus_01_dot_14_bar__minus_00_dot_51 - object + Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__minus_00_dot_51 - object + Lettuce_bar__minus_00_dot_47_bar__plus_01_dot_19_bar__plus_00_dot_50 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Pan_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + PaperTowelRoll_bar__plus_01_dot_48_bar__plus_00_dot_99_bar__minus_02_dot_51 - object + PepperShaker_bar__plus_00_dot_84_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + Plate_bar__minus_01_dot_10_bar__plus_00_dot_13_bar__minus_02_dot_35 - object + Plate_bar__minus_02_dot_12_bar__plus_00_dot_54_bar__plus_01_dot_00 - object + Potato_bar__minus_01_dot_88_bar__plus_00_dot_08_bar__plus_01_dot_98 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 - object + Pot_bar__plus_00_dot_45_bar__plus_00_dot_14_bar__minus_02_dot_39 - object + Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Pot_bar__minus_02_dot_04_bar__plus_01_dot_51_bar__plus_01_dot_18 - object + SaltShaker_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + SaltShaker_bar__minus_01_dot_62_bar__plus_01_dot_65_bar__minus_02_dot_53 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_02_dot_00_bar__plus_00_dot_55_bar__minus_02_dot_41 - object + Spatula_bar__plus_00_dot_95_bar__plus_00_dot_79_bar__minus_02_dot_38 - object + Spatula_bar__minus_01_dot_83_bar__plus_00_dot_81_bar__plus_00_dot_29 - object + Spatula_bar__minus_01_dot_94_bar__plus_00_dot_93_bar__minus_02_dot_26 - object + Spoon_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Statue_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - 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_00_dot_92 - object + Tomato_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_04 - object + Vase_bar__plus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Vase_bar__plus_01_dot_79_bar__plus_00_dot_55_bar__minus_02_dot_67 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__minus_00_dot_06_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + WineBottle_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + 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Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle Vase_bar__plus_00_dot_90_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle CreditCard_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_70 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle 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 WineBottle_bar__minus_01_dot_44_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle SaltShaker_bar__minus_01_dot_00_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_00_dot_51 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle DishSponge_bar__minus_02_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_37 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spatula_bar__minus_01_dot_94_bar__plus_00_dot_93_bar__minus_02_dot_26 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_58 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle ButterKnife_bar__minus_02_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Tomato_bar__minus_02_dot_10_bar__plus_00_dot_95_bar__minus_02_dot_04 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loc_bar__minus_5_bar__minus_7_bar_3_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_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o PlateType) + (receptacleType ?r ShelfType) + (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-Plate-None-Shelf-1/trial_T20190907_114549_185841/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114549_185841/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..55cd4a3613d8c8ad0f20a604803a2b06041738b3 --- /dev/null +++ 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the left of the stove.", + "Place the plate on the wooden shelf." + ], + "task_desc": "Put a clean plate on the wooden shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_37TRT2X24T8X5WW88TDILD84478JBP", + "high_descs": [ + "Head left to the white fridge, hang a left and cross the room to reach the counter top next to the stove.", + "Open the lower cabinet doors, pick up a dirty white plate from inside the cabinet, and close the doors.", + "Turn around and hang a left to reach the sink.", + "Put the plate inside the sink in the middle, fill the sink with water to rinse it and pick up the clean plate.", + "Turn around, cross the room to the wall and turn right to face the wooden shelves.", + "Place the plate on the middle wooden shelf to the left of the red object and behind the blue object." + ], + "task_desc": "Place a clean plate on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3L4D84MIL297W9ZU8LNE7OB2ZK4HJU", + "high_descs": [ + "Turn around and walk towards the salt shaker on the counter.", + "Pull open the cabinet below the salt shaker and take out the dirty plate.", + "Turn right towards the sink.", + "Place the plate in the sink, wash it, and take it back out.", + "Turn around towards the wooden shelves on your right.", + "Place the plate next to the red vase on the shelves." + ], + "task_desc": "Place the cleaned plate on the shelves.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3A7Y0R2P2R54IZZ9DP50AAZWNGAJXO", + "high_descs": [ + "Turn around and walk forward to the counter to the right of the stove top.", + "Open the cabinet below the counter and take out the dirty plate.", + "Turn right and walk to the sink.", + "Put the plate in the sink, rinse it off, and take it back out of the sink.", + "Turn around and walk forward to the shelves on the right against the wall.", + "Put the plate on the middle shelf, behind the water bottle." + ], + "task_desc": "Put a cleaned plate on a shelf in the kitchen.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3PMBY0YE2AKR9PB50HI0730JQU59CE", + "high_descs": [ + "Turn around and walk to the cabinet to the right of the oven.", + "Pick up the plate in the cabinet to the right of the oven.", + "Turn to your right and walk to the sink.", + "Rinse the plate in the sink and then pick the plate up from the sink.", + "Turn around and walk to the brown shelf in the corner.", + "Place the plate on the middle brown shelf." + ], + "task_desc": "Place a clean plate on the brown shelf with a kettle on it.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3Z4AIRP3C9UXNIJ5N0ZU6A3ATZR1XJ", + "high_descs": [ + "Turn to your left move forward and head to the cabinet beside the stove", + "Open the cabinet and pick up the dirty plate then close the cabinet", + "Turn to your right then move forward turn left to the sink", + "Put the dirty plate in the sink and rinse it", + "Pick up the clean plate, then turn around to your left head to the shelf", + "Put the clean plate on the shelf beside the red container" + ], + "task_desc": "Clean the dirty plate on the sink going to the shelf", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..6298466e0576ea7164f60767954a9f35325b27bd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some plate and put it in 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_114616_377252)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object\n Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_01_dot_20_bar__plus_00_dot_13_bar__minus_02_dot_35 - object\n Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_25 - object\n Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25 - object\n Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_56 - object\n ButterKnife_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object\n CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_25 - object\n CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 - object\n Cup_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Cup_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n Cup_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_60 - object\n DishSponge_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object\n DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 - object\n DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_12 - object\n Egg_bar__minus_01_dot_59_bar__plus_00_dot_95_bar__minus_02_dot_48 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Fork_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__plus_00_dot_25 - object\n Glassbottle_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_56 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object\n Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object\n Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_33 - object\n Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_64 - object\n Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 - object\n Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 - object\n LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object\n Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object\n PaperTowelRoll_bar__plus_00_dot_84_bar__plus_01_dot_01_bar__minus_02_dot_56 - object\n PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 - object\n PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_40 - object\n PepperShaker_bar__minus_01_dot_13_bar__plus_01_dot_65_bar__minus_02_dot_53 - object\n Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object\n Plate_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 - object\n Plate_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_27 - object\n Plate_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 - object\n Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__minus_00_dot_76 - object\n Potato_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_64 - object\n Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_00_dot_76 - object\n Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object\n SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n SaltShaker_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 - object\n SaltShaker_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object\n SoapBottle_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_48 - object\n Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object\n Spoon_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 - 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_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__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_76 - object\n Vase_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 - object\n Vase_bar__plus_02_dot_04_bar__plus_00_dot_54_bar__minus_02_dot_50 - object\n Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object\n WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_67 - object\n WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59 - 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_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location\n loc_bar_3_bar_0_bar_3_bar_30 - location\n loc_bar_5_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_5_bar_7_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location\n loc_bar_7_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_3_bar__minus_6_bar_3_bar_60 - location\n loc_bar_7_bar__minus_8_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_7_bar_2_bar_60 - location\n loc_bar__minus_5_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_5_bar_1_bar_3_bar_45 - location\n loc_bar_6_bar__minus_4_bar_2_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_2_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 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType 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WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_67)\n (coolable Cup_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48)\n (coolable Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26)\n (coolable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (coolable Plate_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44)\n (coolable Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25)\n (coolable Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_00_dot_76)\n (coolable Egg_bar__minus_01_dot_59_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17)\n (coolable Bowl_bar__minus_01_dot_20_bar__plus_00_dot_13_bar__minus_02_dot_35)\n (coolable Cup_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25)\n (coolable Plate_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00)\n (coolable 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Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_56)\n (sliceable Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__minus_00_dot_76)\n (sliceable Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26)\n (sliceable Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50)\n (sliceable Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25)\n (sliceable Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_00_dot_76)\n (sliceable Egg_bar__minus_01_dot_59_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (sliceable Tomato_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_76)\n (sliceable Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61)\n (sliceable Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76)\n (sliceable Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_64)\n \n (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37)\n (inReceptacle DishSponge_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle 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 SaltShaker_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Vase_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 Lettuce_bar__minus_00_dot_34_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 Tomato_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle ButterKnife_bar__plus_00_dot_08_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 SaltShaker_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 Fork_bar__plus_00_dot_36_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 Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_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 Plate_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 Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_34_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)\n (inReceptacle Plate_bar__minus_01_dot_71_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 Potato_bar__plus_00_dot_32_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 CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_84_bar__plus_01_dot_01_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Cup_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Fork_bar__plus_00_dot_32_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 Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_48 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 SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Spoon_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 Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_64 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle SoapBottle_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48)\n (inReceptacle Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58)\n (inReceptacle CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_25 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_01_dot_13_bar__plus_01_dot_65_bar__minus_02_dot_53 Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Cup_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_60 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_40 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle Bowl_bar__minus_01_dot_20_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20)\n (inReceptacle PepperShaker_bar__minus_00_dot_82_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 WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_67 Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46)\n (inReceptacle Spoon_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Cup_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Knife_bar__minus_01_dot_59_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 Egg_bar__minus_01_dot_59_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_56 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 Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53)\n (inReceptacle CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56)\n (inReceptacle Glassbottle_bar__plus_01_dot_69_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 Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_48 Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42)\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 DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_12 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03)\n (inReceptacle Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56)\n (inReceptacle Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Plate_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_25 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09)\n (inReceptacle 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 \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_2_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 loc_bar__minus_4_bar_2_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_5_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 loc_bar_6_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 loc_bar_1_bar__minus_7_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 loc_bar__minus_5_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 loc_bar__minus_4_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 loc_bar_7_bar__minus_8_bar_2_bar_60)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 loc_bar_5_bar__minus_6_bar_2_bar_45)\n (receptacleAtLocation Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin loc_bar__minus_5_bar__minus_6_bar_3_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 loc_bar__minus_5_bar_1_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 loc_bar__minus_1_bar__minus_7_bar_2_bar_0)\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__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_40 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_20_bar__plus_00_dot_13_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation WineBottle_bar__plus_01_dot_99_bar__plus_00_dot_88_bar__minus_02_dot_59 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (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_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Plate_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 loc_bar_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar__minus_2_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_56 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\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 Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_60 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Plate_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_27 loc_bar__minus_3_bar__minus_6_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_25 loc_bar_7_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_64 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar_0_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 loc_bar__minus_5_bar__minus_5_bar_3_bar_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_48_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_2_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_33_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 loc_bar__minus_1_bar__minus_7_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 loc_bar_3_bar_0_bar_0_bar_60)\n (objectAtLocation Glassbottle_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_56 loc_bar_7_bar__minus_5_bar_2_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_33 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_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__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_20_bar__plus_01_dot_15_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30)\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_59_bar__plus_00_dot_95_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation 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 Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 loc_bar_5_bar__minus_2_bar_3_bar_60)\n (objectAtLocation WineBottle_bar__plus_01_dot_12_bar__plus_01_dot_66_bar__minus_02_dot_67 loc_bar_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_48 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_84_bar__plus_01_dot_01_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Vase_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 Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_25 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_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 PepperShaker_bar__minus_01_dot_13_bar__plus_01_dot_65_bar__minus_02_dot_53 loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 loc_bar__minus_4_bar_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_12 loc_bar__minus_5_bar_7_bar_3_bar_60)\n (objectAtLocation Spoon_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 LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 loc_bar__minus_5_bar__minus_1_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (cleanable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take plate 2 from countertop 3", "go to sinkbasin 1", "clean plate 2 with sinkbasin 1", "go to shelf 2", "move plate 2 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..de2a3fa6b5bb1e483aa2c6cfc1ed3f3f8088a161 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/initial_state.pddl @@ -0,0 +1,1246 @@ + +(define (problem plan_trial_T20190907_114616_377252) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_28_bar__plus_01_dot_84_bar__minus_02_dot_61 - object + Apple_bar__minus_02_dot_04_bar__plus_01_dot_55_bar__plus_01_dot_26 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_01_dot_20_bar__plus_00_dot_13_bar__minus_02_dot_35 - object + Bowl_bar__minus_02_dot_08_bar__plus_00_dot_54_bar__plus_01_dot_25 - object + Bread_bar__minus_00_dot_34_bar__plus_01_dot_18_bar__plus_00_dot_25 - object + Bread_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_02_dot_56 - object + ButterKnife_bar__plus_00_dot_08_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + ButterKnife_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object + CreditCard_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + CreditCard_bar__plus_01_dot_06_bar__plus_00_dot_64_bar__minus_02_dot_25 - object + CreditCard_bar__plus_01_dot_89_bar__plus_00_dot_88_bar__minus_02_dot_54 - object + Cup_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Cup_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + Cup_bar__minus_01_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + DishSponge_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__minus_00_dot_51 - object + DishSponge_bar__minus_01_dot_91_bar__plus_00_dot_05_bar__plus_01_dot_98 - object + DishSponge_bar__minus_01_dot_96_bar__plus_00_dot_05_bar__plus_02_dot_12 - object + Egg_bar__minus_01_dot_59_bar__plus_00_dot_95_bar__minus_02_dot_48 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_32_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Fork_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__plus_00_dot_25 - object + Glassbottle_bar__plus_01_dot_69_bar__plus_00_dot_88_bar__minus_02_dot_56 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + Kettle_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 - object + Kettle_bar__minus_00_dot_47_bar__plus_00_dot_95_bar__minus_02_dot_37 - object + Knife_bar__minus_01_dot_59_bar__plus_00_dot_94_bar__minus_02_dot_33 - object + Lettuce_bar__plus_01_dot_10_bar__plus_00_dot_99_bar__minus_02_dot_64 - object + Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 - object + Lettuce_bar__minus_00_dot_34_bar__plus_01_dot_19_bar__plus_00_dot_50 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_96_bar__minus_00_dot_17 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + PaperTowelRoll_bar__plus_00_dot_84_bar__plus_01_dot_01_bar__minus_02_dot_56 - object + PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_30 - object + PepperShaker_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_40 - object + PepperShaker_bar__minus_01_dot_13_bar__plus_01_dot_65_bar__minus_02_dot_53 - object + Plate_bar__plus_00_dot_22_bar__plus_01_dot_11_bar_00_dot_00 - object + Plate_bar__plus_00_dot_34_bar__plus_00_dot_14_bar__minus_02_dot_44 - object + Plate_bar__minus_01_dot_71_bar__plus_00_dot_13_bar__minus_01_dot_27 - object + Plate_bar__minus_02_dot_04_bar__plus_00_dot_80_bar__plus_01_dot_00 - object + Potato_bar__plus_00_dot_08_bar__plus_01_dot_14_bar__minus_00_dot_76 - object + Potato_bar__plus_00_dot_32_bar__plus_00_dot_94_bar__minus_02_dot_64 - object + Potato_bar__minus_00_dot_06_bar__plus_01_dot_14_bar__plus_00_dot_76 - object + Pot_bar__minus_01_dot_22_bar__plus_00_dot_90_bar__minus_02_dot_36 - object + SaltShaker_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + SaltShaker_bar__minus_00_dot_06_bar__plus_01_dot_11_bar_00_dot_00 - object + SaltShaker_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Spatula_bar__plus_00_dot_84_bar__plus_00_dot_93_bar__minus_02_dot_48 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Spoon_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 - object + Statue_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__minus_02_dot_54 - object + Statue_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + StoveKnob_bar__minus_00_dot_02_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + StoveKnob_bar__minus_00_dot_18_bar__plus_00_dot_88_bar__minus_02_dot_19 - object + 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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_2_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) + 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loc_bar_7_bar__minus_1_bar_1_bar_30) + (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) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (cleanable ?o) + (objectType ?o PlateType) + (receptacleType ?r ShelfType) + (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-Plate-None-Shelf-1/trial_T20190907_114616_377252/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c68492ddf1b7759c400bfecf46c6f55e246305e4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114616_377252/traj_data.json @@ -0,0 +1,5141 @@ +{ + "images": [ + { + "high_idx": 0, + 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"Vase_d1ae33eb", + "position": { + "x": 2.042472, + "y": 0.5407073, + "z": -2.49500537 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_30762d8a", + "position": { + "x": -1.58601356, + "y": 0.946563244, + "z": -2.48345661 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_01a9d33b", + "position": { + "x": 1.89161468, + "y": 0.877827168, + "z": -2.5364325 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Statue_1a4cbefa", + "position": { + "x": 1.955, + "y": 0.168442056, + "z": -2.543 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_c21bc5e7", + "position": { + "x": 1.99396777, + "y": 0.88176, + "z": -2.59076929 + }, + "rotation": { + "x": -3.41504619e-06, + "y": 180.00032, + "z": -1.70754829e-05 + } + }, + { + "objectName": "Pot_9e34d9fc", + "position": { + "x": -1.219, + "y": 0.9, + "z": 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"position": { + "x": -0.473685682, + "y": 1.10790622, + "z": 0.7573217 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_816f44ce", + "position": { + "x": -0.816037238, + "y": 0.133306861, + "z": -2.40271449 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_e166a32f", + "position": { + "x": 1.09816635, + "y": 0.99032253, + "z": -2.637633 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_f63cc56c", + "position": { + "x": -0.84807694, + "y": 0.911442041, + "z": -2.63708615 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_a0b666be", + "position": { + "x": -0.277025, + "y": 1.84107757, + "z": -2.61057 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_56e11318", + "position": { + "x": -0.197295129, + "y": 1.11116433, + "z": -0.5065479 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_cd066502", + "position": { + "x": -1.69662428, + "y": 0.15496856, + "z": -0.245843783 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "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": 2698972233, + "scene_num": 1 + }, + "task_id": "trial_T20190907_114616_377252", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3DUZQ9U6SP55DDD404DWEQTY3I9SVS", + "high_descs": [ + "Move to the sink to the right of you.", + "Retrieve a plate from the cabiniet under the sink and close it afterwards.", + "Move to the middle of the sink in front of you.", + "Place and clean the plate in the sink with water, turn the water off and pick up the plate.", + "Move to the counter on the left side of the stove.", + "Place the plate on the wooden shelf." + ], + "task_desc": "Put the cleaned plate from under the sink on the wooden self.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3PM8NZGV81XL4M3M8FP97BBI15WQX4", + "high_descs": [ + "Move forward then turn right to face the sink.", + "Open the cabinet under the sink, pick up the dirty plate in there. ", + "Bring the dirty plate to the sink.", + "Wash the dirty plate in the sink with water. ", + "Pick up the cleaned plate from the sink, turn around, and move to the wooded rack past the counter on the right. ", + "Put the cleaned plate on the middle wooden rack. " + ], + "task_desc": "Put a cleaned plate on the middle wooden rack. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3RRCEFRB7PT72EDN5MQEFBJLMAUB42", + "high_descs": [ + "Turn right to face the sink.", + "Open the cabinet under the sink and take out a plate.", + "Move slightly to the right.", + "Wash the plate in the sink.", + "Turn around and go to the shelf.", + "Put the plate on the shelf." + ], + "task_desc": "Put a washed plate on the shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3OONKJ5DKF0B67N5O65NT9PQ38WBOS", + "high_descs": [ + "Move to the sink to the right", + "Get dirty plate from the cabinet", + "Move to the front of the sink", + "Clean plate in the sink", + "Move to the wooden self to the left of the stove", + "Put plate on the shelf" + ], + "task_desc": "Put a cleaned plate on the wooden shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3OVR4I9USS0U6KFCO4N4A0EK8HUQ46", + "high_descs": [ + "Turn right to face the sink.", + "Open the cabinet below the sink and take out the plate.", + "Back up from the cupboard and focus on the sink.", + "Put the plate in the sink and turn the water on and then off and pick the plate up again.", + "Turn around and cross the room to face the brown shelves to the right of the counter.", + "Put the plate on the middle shelf on the right side." + ], + "task_desc": "Put a clean plate on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3QFUFYSY91WXFVP3AOCAY1A61DY4FZ", + "high_descs": [ + "Head to the sink that is ahead of you on your right.", + "Open the cabinet that is under the sink and pick up the dirty plate that is inside, then close the cabinet", + "Step left and continue to face the sink", + "Place the plate into the sink and turn on the faucet, then turn off the faucet and pick up the clean plate", + "Turn around and cross the room, then hang right and walk to the brown shelf", + "Place the clean plate on the middle shelf to the right of the clear vase." + ], + "task_desc": "Place a clean plate on a shelf", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..687e92e646b5ab28b676b5668adf43b58389c033 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: clean some plate and put it in 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_114717_584270)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_25 - object\n Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object\n Bowl_bar__minus_01_dot_57_bar__plus_01_dot_65_bar__minus_02_dot_57 - object\n Bowl_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_64 - object\n Bread_bar__plus_00_dot_22_bar__plus_01_dot_18_bar__minus_00_dot_51 - object\n ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - object\n ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 - object\n ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_70 - object\n Chair_bar__plus_00_dot_62_bar__plus_00_dot_73_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_67_bar__plus_00_dot_73_bar__plus_00_dot_57 - object\n CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 - object\n CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_29 - object\n CreditCard_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76 - object\n Cup_bar__minus_01_dot_01_bar__plus_00_dot_13_bar__minus_02_dot_35 - object\n Cup_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 - object\n DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_41 - object\n DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__plus_00_dot_25 - object\n Egg_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__plus_00_dot_76 - object\n Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object\n Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object\n Fork_bar__plus_01_dot_07_bar__plus_00_dot_32_bar__minus_02_dot_38 - object\n Glassbottle_bar__plus_00_dot_28_bar__plus_00_dot_14_bar__minus_02_dot_49 - object\n HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object\n Kettle_bar__minus_01_dot_71_bar__plus_00_dot_14_bar__minus_01_dot_86 - object\n Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 - object\n Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 - object\n Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_51 - object\n 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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 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loc_bar_0_bar__minus_5_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_5_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 StoveBurnerType)\n (receptacleType GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 GarbageCanType)\n (receptacleType CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 CounterTopType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 CoffeeMachineType)\n (receptacleType 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(receptacleType StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 CounterTopType)\n (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 ShelfType)\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 StoveBurnerType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 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ButterKnife_bar__minus_01_dot_94_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)\n (inReceptacle HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle DishSponge_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)\n (inReceptacle Bowl_bar__minus_01_dot_59_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 Tomato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21)\n (inReceptacle 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WineBottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 loc_bar_0_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_43 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__minus_02_dot_56 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_01_bar__plus_00_dot_13_bar__minus_02_dot_35 loc_bar__minus_5_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_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 Bowl_bar__minus_01_dot_57_bar__plus_01_dot_65_bar__minus_02_dot_57 loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30)\n (objectAtLocation SaltShaker_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 PepperShaker_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 loc_bar__minus_4_bar_3_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_51 loc_bar_3_bar_0_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_70 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_25 loc_bar_3_bar__minus_7_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_41 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_02_dot_26 loc_bar__minus_5_bar__minus_7_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 loc_bar_7_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_35 loc_bar__minus_5_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 (cleanable ?o)\n (objectType ?o PlateType)\n (receptacleType ?r ShelfType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 3", "take plate 3 from countertop 3", "go to sinkbasin 1", "clean plate 3 with sinkbasin 1", "go to shelf 2", "move plate 3 to shelf 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..29ac9b084a3853ca25cc3ef79505b98fa52eb49f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-Plate-None-Shelf-1/trial_T20190907_114717_584270/initial_state.pddl @@ -0,0 +1,1210 @@ + +(define (problem plan_trial_T20190907_114717_584270) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_25 - object + Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 - object + Bowl_bar__minus_01_dot_57_bar__plus_01_dot_65_bar__minus_02_dot_57 - object + Bowl_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_64 - object + Bread_bar__plus_00_dot_22_bar__plus_01_dot_18_bar__minus_00_dot_51 - object + ButterKnife_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_50 - object + ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 - object + ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_91_bar__minus_00_dot_70 - 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_45_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_29 - object + CreditCard_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76 - object + Cup_bar__minus_01_dot_01_bar__plus_00_dot_13_bar__minus_02_dot_35 - object + Cup_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 - object + DishSponge_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_41 - object + DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__plus_00_dot_25 - object + Egg_bar__minus_00_dot_34_bar__plus_01_dot_15_bar__plus_00_dot_76 - object + Faucet_bar__minus_02_dot_07_bar__plus_01_dot_13_bar__minus_01_dot_51 - object + Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 - object + Fork_bar__plus_01_dot_07_bar__plus_00_dot_32_bar__minus_02_dot_38 - object + Glassbottle_bar__plus_00_dot_28_bar__plus_00_dot_14_bar__minus_02_dot_49 - object + HousePlant_bar__minus_01_dot_95_bar__plus_00_dot_90_bar__minus_02_dot_52 - object + Kettle_bar__minus_01_dot_71_bar__plus_00_dot_14_bar__minus_01_dot_86 - object + Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 - object + Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 - object + Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_51 - object + Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 - object + LightSwitch_bar__plus_02_dot_33_bar__plus_01_dot_31_bar__minus_00_dot_16 - object + Mug_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_33 - object + Mug_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_35 - object + Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 - object + PaperTowelRoll_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__minus_02_dot_56 - object + PepperShaker_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 - object + Plate_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_60 - object + Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 - object + Plate_bar__minus_02_dot_03_bar__plus_01_dot_30_bar__plus_01_dot_09 - object + Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 - 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 + Pot_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_09 - object + SaltShaker_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + SaltShaker_bar__plus_00_dot_39_bar__plus_00_dot_14_bar__minus_02_dot_24 - object + SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_71 - object + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50 - object + SoapBottle_bar__plus_00_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_67 - object + SoapBottle_bar__minus_01_dot_88_bar__plus_00_dot_05_bar__plus_01_dot_98 - object + SoapBottle_bar__minus_01_dot_99_bar__plus_00_dot_05_bar__plus_02_dot_03 - object + Spatula_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_43 - object + Spoon_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Statue_bar__minus_00_dot_20_bar__plus_01_dot_11_bar_00_dot_00 - 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_36_bar__plus_01_dot_15_bar_00_dot_00 - object + Tomato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__minus_02_dot_04 - object + Tomato_bar__minus_02_dot_12_bar__plus_01_dot_54_bar__plus_01_dot_34 - object + Vase_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 - object + Vase_bar__minus_01_dot_66_bar__plus_00_dot_13_bar__minus_01_dot_27 - object + Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_62 - object + Window_bar__minus_02_dot_23_bar__plus_01_dot_43_bar__minus_01_dot_20 - object + WineBottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 - object + Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97 - receptacle + Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46 - receptacle + Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle + CoffeeMachine_bar__minus_02_dot_00_bar__plus_00_dot_90_bar__minus_00_dot_17 - receptacle + CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48 - receptacle + CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00 - receptacle + CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_71_bar__minus_02_dot_20 - receptacle + Drawer_bar__plus_00_dot_95_bar__plus_00_dot_83_bar__minus_02_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__plus_00_dot_20 - receptacle + Drawer_bar__minus_01_dot_56_bar__plus_00_dot_84_bar__minus_00_dot_20 - receptacle + Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09 - receptacle + GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03 - receptacle + Microwave_bar__minus_00_dot_24_bar__plus_01_dot_69_bar__minus_02_dot_53 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_16_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 - receptacle + Shelf_bar__plus_01_dot_80_bar__plus_00_dot_87_bar__minus_02_dot_56 - receptacle + Sink_bar__minus_01_dot_90_bar__plus_00_dot_97_bar__minus_01_dot_50_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_37 - receptacle + StoveBurner_bar__minus_00_dot_47_bar__plus_00_dot_92_bar__minus_02_dot_58 - receptacle + Toaster_bar__minus_01_dot_84_bar__plus_00_dot_90_bar__plus_00_dot_13 - receptacle + loc_bar_1_bar__minus_7_bar_1_bar_45 - location + loc_bar__minus_5_bar_2_bar_3_bar__minus_30 - location + loc_bar_7_bar__minus_5_bar_2_bar_30 - location + loc_bar_7_bar__minus_7_bar_3_bar_45 - location + loc_bar__minus_5_bar__minus_5_bar_3_bar_15 - location + loc_bar__minus_4_bar_2_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_7_bar_2_bar_0 - location + loc_bar_3_bar__minus_7_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_4_bar_3_bar_60 - location + loc_bar_0_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_45 - location + loc_bar_3_bar_0_bar_0_bar_60 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_45 - location + loc_bar_5_bar__minus_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_2_bar_60 - location + loc_bar__minus_5_bar__minus_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_7_bar_2_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_2_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_7_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar__minus_1_bar_3_bar_60 - location + loc_bar_3_bar_0_bar_3_bar_30 - location + loc_bar_5_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_5_bar_7_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_5_bar_2_bar_45 - location + loc_bar_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_2_bar__minus_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_46 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_80_bar__plus_00_dot_54_bar__minus_02_dot_56 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_85_bar__plus_02_dot_02_bar__plus_00_dot_38 CabinetType) + (receptacleType 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Tomato_bar__plus_00_dot_36_bar__plus_01_dot_15_bar_00_dot_00 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Vase_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) + (inReceptacle Plate_bar__minus_00_dot_47_bar__plus_01_dot_11_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle SaltShaker_bar__plus_00_dot_36_bar__plus_01_dot_11_bar__minus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Bread_bar__plus_00_dot_22_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) + (inReceptacle Statue_bar__minus_00_dot_20_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 Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Book_bar__plus_00_dot_16_bar__plus_01_dot_10_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Lettuce_bar__plus_00_dot_36_bar__plus_01_dot_19_bar__plus_00_dot_25 CounterTop_bar__minus_00_dot_08_bar__plus_01_dot_15_bar_00_dot_00) + (inReceptacle Kettle_bar__minus_01_dot_71_bar__plus_00_dot_14_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle Vase_bar__minus_01_dot_76_bar__plus_00_dot_14_bar__minus_01_dot_62 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__minus_01_dot_97) + (inReceptacle Vase_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 Fork_bar__plus_00_dot_97_bar__plus_00_dot_91_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_32_bar__plus_01_dot_01_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle WineBottle_bar__plus_00_dot_58_bar__plus_00_dot_91_bar__minus_02_dot_56 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle CreditCard_bar__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Apple_bar__plus_00_dot_32_bar__plus_00_dot_96_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Pan_bar__plus_00_dot_72_bar__plus_00_dot_90_bar__minus_02_dot_42 CounterTop_bar__plus_00_dot_69_bar__plus_00_dot_95_bar__minus_02_dot_48) + (inReceptacle Mug_bar__plus_00_dot_45_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 Pot_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_02_dot_58 StoveBurner_bar__minus_00_dot_04_bar__plus_00_dot_92_bar__minus_02_dot_58) + (inReceptacle Fork_bar__plus_01_dot_07_bar__plus_00_dot_32_bar__minus_02_dot_38 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_39_bar__minus_02_dot_20) + (inReceptacle DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38) + (inReceptacle Cup_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_50_bar__plus_00_dot_38) + (inReceptacle Spatula_bar__plus_01_dot_07_bar__plus_00_dot_50_bar__minus_02_dot_43 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_56_bar__minus_02_dot_20) + (inReceptacle 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 Bowl_bar__minus_01_dot_57_bar__plus_01_dot_65_bar__minus_02_dot_57 Cabinet_bar__minus_01_dot_69_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Glassbottle_bar__plus_00_dot_28_bar__plus_00_dot_14_bar__minus_02_dot_49 Cabinet_bar__plus_00_dot_68_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle 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 Cup_bar__minus_01_dot_01_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle Mug_bar__minus_00_dot_82_bar__plus_00_dot_13_bar__minus_02_dot_35 Cabinet_bar__minus_01_dot_18_bar__plus_00_dot_50_bar__minus_02_dot_20) + (inReceptacle CreditCard_bar__plus_01_dot_01_bar__plus_00_dot_14_bar__minus_02_dot_29 Drawer_bar__plus_00_dot_95_bar__plus_00_dot_22_bar__minus_02_dot_20) + (inReceptacle PepperShaker_bar__minus_01_dot_70_bar__plus_00_dot_15_bar__minus_00_dot_25 Drawer_bar__minus_01_dot_56_bar__plus_00_dot_33_bar__minus_00_dot_20) + (inReceptacle Plate_bar__plus_00_dot_56_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 SoapBottle_bar__plus_00_dot_29_bar__plus_01_dot_66_bar__minus_02_dot_67 Cabinet_bar__plus_00_dot_68_bar__plus_02_dot_02_bar__minus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_14_bar__plus_00_dot_94_bar__minus_02_dot_41 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle ButterKnife_bar__minus_01_dot_94_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 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 SaltShaker_bar__minus_01_dot_00_bar__plus_00_dot_91_bar__minus_02_dot_71 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle DishSponge_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 Bowl_bar__minus_01_dot_59_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 Tomato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__minus_02_dot_04 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Spoon_bar__minus_01_dot_69_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_95_bar__minus_01_dot_21) + (inReceptacle Potato_bar__minus_01_dot_91_bar__plus_00_dot_08_bar__plus_01_dot_89 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle SoapBottle_bar__minus_01_dot_88_bar__plus_00_dot_05_bar__plus_01_dot_98 GarbageCan_bar__minus_01_dot_94_bar__plus_00_dot_00_bar__plus_02_dot_03) + (inReceptacle SoapBottle_bar__minus_01_dot_99_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) + (inReceptacle Plate_bar__minus_02_dot_03_bar__plus_01_dot_30_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Tomato_bar__minus_02_dot_12_bar__plus_01_dot_54_bar__plus_01_dot_34 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + (inReceptacle Pot_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_09 Fridge_bar__minus_02_dot_10_bar__plus_00_dot_00_bar__plus_01_dot_09) + + + (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__plus_00_dot_45_bar__plus_00_dot_91_bar__minus_02_dot_33 loc_bar_3_bar__minus_7_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_86_bar__plus_00_dot_13_bar__plus_00_dot_25 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_73_bar__plus_00_dot_91_bar__minus_02_dot_48 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation Lettuce_bar__minus_00_dot_06_bar__plus_01_dot_19_bar__minus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30) + (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) + (objectAtLocation Bowl_bar__minus_01_dot_59_bar__plus_00_dot_91_bar__minus_02_dot_64 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation Vase_bar__minus_00_dot_34_bar__plus_01_dot_11_bar__minus_00_dot_25 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Cup_bar__minus_01_dot_67_bar__plus_00_dot_13_bar__plus_00_dot_11 loc_bar__minus_4_bar_2_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_02_dot_04_bar__plus_00_dot_54_bar__plus_01_dot_09 loc_bar__minus_4_bar_4_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_20_bar__plus_01_dot_11_bar__plus_00_dot_76 loc_bar_3_bar_0_bar_3_bar_30) + (objectAtLocation Tomato_bar__minus_01_dot_77_bar__plus_00_dot_95_bar__minus_02_dot_04 loc_bar__minus_5_bar__minus_7_bar_3_bar_45) + (objectAtLocation 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walk to the wall then turn right.", + "Put the plate to the right of the second shelf from the bottom." + ], + "task_desc": "Put a clean plate on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3JPSL1DZ5VGO5CI1HD5EJ95FV1JNAD", + "high_descs": [ + "Turn to the left and face the counter.", + "Pick the plate up from the far left side of the counter.", + "Go left and stand in front of the sink.", + "Put the plate in the sink, turn the water on, turn the water off, and pick the plate up out of the sink.", + "Turn around and walk to the brown shelves at the end of the counter.", + "Put the plate on the second shelf from the bottom." + ], + "task_desc": "Put a clean plate on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3X1FV8S5J082N84D54JFPCAVFZYVGE", + "high_descs": [ + "Turn to the left. ", + "Take the dirty plate off the edge of the table. ", + "Turn to the left and walk across the room to the sink. ", + "Put the plate in the sink and turn the water on, then fill up the sink before turning it off and taking the plate out of the sink. ", + "Turn around and walk across the room, then turn right. ", + "Put the plate on the second shelf from the bottom. " + ], + "task_desc": "To clean the plate. ", + "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-Cabinet-402/trial_T20190908_055202_188428/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2617093439b6b75f2338ffcb65b968668071212c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/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 cabinet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_055202_188428)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 - object\n Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 - object\n Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88 - object\n Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 - object\n Faucet_bar__minus_00_dot_58_bar__plus_01_dot_05_bar__plus_05_dot_10 - object\n Faucet_bar__minus_01_dot_52_bar__plus_01_dot_05_bar__plus_05_dot_10 - object\n Faucet_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__plus_03_dot_81 - object\n HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 - object\n LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 - object\n Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 - object\n Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 - object\n ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 - object\n ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 - object\n ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object\n ShowerHead_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__plus_00_dot_88 - object\n Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 - object\n Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 - object\n SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 - object\n SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 - object\n SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90 - object\n SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 - object\n SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 - object\n SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 - object\n SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 - object\n SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 - object\n TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 - object\n ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 - object\n ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 - object\n Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 - object\n Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 - object\n Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 - object\n Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin - receptacle\n Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle\n Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle\n Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle\n CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 - receptacle\n GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 - receptacle\n HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 - receptacle\n HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 - receptacle\n Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 - receptacle\n Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 - receptacle\n Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 - receptacle\n TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 - receptacle\n TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 - receptacle\n loc_bar__minus_10_bar_11_bar_3_bar_60 - location\n loc_bar__minus_9_bar_8_bar_3_bar_30 - location\n loc_bar__minus_2_bar_15_bar_1_bar_60 - location\n loc_bar__minus_2_bar_8_bar_2_bar_60 - location\n loc_bar__minus_11_bar_16_bar_0_bar_60 - location\n loc_bar__minus_3_bar_15_bar_0_bar_60 - location\n loc_bar__minus_8_bar_9_bar_2_bar_0 - location\n loc_bar__minus_9_bar_18_bar_0_bar_15 - location\n loc_bar__minus_2_bar_16_bar_0_bar_0 - location\n loc_bar__minus_2_bar_11_bar_1_bar_30 - location\n loc_bar__minus_10_bar_18_bar_0_bar_30 - location\n loc_bar__minus_4_bar_17_bar_0_bar_0 - location\n loc_bar__minus_6_bar_17_bar_0_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_60 - location\n loc_bar__minus_5_bar_15_bar_0_bar_60 - location\n loc_bar__minus_7_bar_15_bar_0_bar_60 - location\n loc_bar__minus_2_bar_8_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar_17_bar_0_bar_45 - location\n loc_bar__minus_2_bar_15_bar_1_bar_45 - location\n loc_bar__minus_4_bar_17_bar_0_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType)\n (receptacleType HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 HandTowelHolderType)\n (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 TowelHolderType)\n (receptacleType Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType)\n (receptacleType ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType)\n (receptacleType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin BathtubBasinType)\n (receptacleType CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType)\n (receptacleType TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 TowelHolderType)\n (receptacleType HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 HandTowelHolderType)\n (receptacleType Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 ToiletType)\n (receptacleType Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 ShelfType)\n (receptacleType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType)\n (receptacleType GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 GarbageCanType)\n (objectType Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 PlungerType)\n (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 SprayBottleType)\n (objectType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 BathtubType)\n (objectType HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelType)\n (objectType SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 SprayBottleType)\n (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType)\n (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType)\n (objectType Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 CandleType)\n (objectType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType)\n (objectType Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 ClothType)\n (objectType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType)\n (objectType Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelType)\n (objectType SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 SoapBottleType)\n (objectType Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88 CandleType)\n (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType)\n (objectType SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 SoapBottleType)\n (objectType ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 ToiletPaperType)\n (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType)\n (objectType SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 SoapBarType)\n (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType)\n (objectType SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 SoapBottleType)\n (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType)\n (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType)\n (objectType SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 SoapBarType)\n (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 ToiletPaperType)\n (objectType SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90 SoapBarType)\n (objectType TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 TissueBoxType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain BathtubBasinType ClothType)\n (canContain BathtubBasinType HandTowelType)\n (canContain BathtubBasinType SoapBarType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType TissueBoxType)\n (canContain CounterTopType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType TissueBoxType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain TowelHolderType TowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain ToiletType TissueBoxType)\n (canContain ShelfType CandleType)\n (canContain ShelfType SoapBarType)\n (canContain ShelfType SprayBottleType)\n (canContain ShelfType ToiletPaperType)\n (canContain ShelfType SoapBottleType)\n (canContain ShelfType ClothType)\n (canContain ShelfType TissueBoxType)\n (canContain ShelfType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType TissueBoxType)\n (canContain GarbageCanType HandTowelType)\n (pickupable Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54)\n (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22)\n (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11)\n (pickupable SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95)\n (pickupable Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19)\n (pickupable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74)\n (pickupable Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43)\n (pickupable SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93)\n (pickupable Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88)\n (pickupable Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85)\n (pickupable SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09)\n (pickupable ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07)\n (pickupable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95)\n (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86)\n (pickupable SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56)\n (pickupable SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88)\n (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37)\n (pickupable SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90)\n (pickupable TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67)\n \n (openable Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (openable Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (openable Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (openable Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63)\n \n (atLocation agent1 loc_bar__minus_7_bar_9_bar_3_bar_30)\n \n (cleanable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74)\n (cleanable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95)\n (cleanable SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88)\n (cleanable SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (inReceptacle SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88)\n (inReceptacle TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88)\n (inReceptacle SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (inReceptacle ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63)\n (inReceptacle Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74)\n (inReceptacle Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43)\n (inReceptacle SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95)\n (inReceptacle Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95)\n (inReceptacle SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95)\n (inReceptacle HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15)\n (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22)\n (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22)\n (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22)\n \n \n (receptacleAtLocation Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin loc_bar__minus_10_bar_11_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_3_bar_15_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_7_bar_15_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 loc_bar__minus_5_bar_15_bar_0_bar_60)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 loc_bar__minus_11_bar_16_bar_0_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 loc_bar__minus_9_bar_18_bar_0_bar_15)\n (receptacleAtLocation Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 loc_bar__minus_9_bar_8_bar_3_bar_30)\n (receptacleAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_2_bar_17_bar_0_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_6_bar_17_bar_0_bar_45)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 loc_bar__minus_2_bar_15_bar_1_bar_45)\n (receptacleAtLocation Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30)\n (receptacleAtLocation TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 loc_bar__minus_3_bar_15_bar_0_bar_60)\n (objectAtLocation SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 loc_bar__minus_2_bar_11_bar_1_bar_30)\n (objectAtLocation SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 loc_bar__minus_9_bar_8_bar_3_bar_30)\n (objectAtLocation SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 loc_bar__minus_7_bar_15_bar_0_bar_60)\n (objectAtLocation Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 loc_bar__minus_2_bar_8_bar_2_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 loc_bar__minus_6_bar_17_bar_0_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 loc_bar__minus_2_bar_8_bar_2_bar_60)\n (objectAtLocation Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 loc_bar__minus_4_bar_17_bar_0_bar_0)\n (objectAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 loc_bar__minus_2_bar_17_bar_0_bar_45)\n (objectAtLocation Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 loc_bar__minus_8_bar_9_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 loc_bar__minus_10_bar_11_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30)\n (objectAtLocation HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 loc_bar__minus_9_bar_18_bar_0_bar_15)\n (objectAtLocation Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 loc_bar__minus_7_bar_9_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 loc_bar__minus_10_bar_18_bar_0_bar_30)\n (objectAtLocation SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_0_bar_45)\n (objectAtLocation Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 loc_bar__minus_9_bar_8_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 loc_bar__minus_7_bar_15_bar_0_bar_60)\n (objectAtLocation SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 loc_bar__minus_2_bar_15_bar_1_bar_60)\n (objectAtLocation Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 loc_bar__minus_2_bar_15_bar_1_bar_60)\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 CabinetType)\n (isClean ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take soapbar 3 from countertop 1", "go to sinkbasin 2", "clean soapbar 3 with sinkbasin 2", "go to cabinet 4", "open cabinet 4", "move soapbar 3 to cabinet 4"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2e557df36d7db8fc3959b5066c8bdd868d8dde18 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/initial_state.pddl @@ -0,0 +1,514 @@ + +(define (problem plan_trial_T20190908_055202_188428) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 - object + Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 - object + Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88 - object + Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 - object + Faucet_bar__minus_00_dot_58_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_01_dot_52_bar__plus_01_dot_05_bar__plus_05_dot_10 - object + Faucet_bar__minus_03_dot_48_bar__plus_00_dot_71_bar__plus_03_dot_81 - object + HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 - object + LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 - object + Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 - object + Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 - object + ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 - object + ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 - object + ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 - object + ShowerHead_bar__minus_00_dot_18_bar__plus_01_dot_26_bar__plus_00_dot_88 - object + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 - object + SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 - object + SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 - object + SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90 - object + SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 - object + SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 - object + SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 - object + SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 - object + SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 - object + TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 - object + ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 - object + ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 - object + Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 - object + Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 - object + Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 - object + Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin - receptacle + Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 - receptacle + CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 - receptacle + GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 - receptacle + HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 - receptacle + HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 - receptacle + Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 - receptacle + Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 - receptacle + Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 - receptacle + TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 - receptacle + TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 - receptacle + loc_bar__minus_10_bar_11_bar_3_bar_60 - location + loc_bar__minus_9_bar_8_bar_3_bar_30 - location + loc_bar__minus_2_bar_15_bar_1_bar_60 - location + loc_bar__minus_2_bar_8_bar_2_bar_60 - location + loc_bar__minus_11_bar_16_bar_0_bar_60 - location + loc_bar__minus_3_bar_15_bar_0_bar_60 - location + loc_bar__minus_8_bar_9_bar_2_bar_0 - location + loc_bar__minus_9_bar_18_bar_0_bar_15 - location + loc_bar__minus_2_bar_16_bar_0_bar_0 - location + loc_bar__minus_2_bar_11_bar_1_bar_30 - location + loc_bar__minus_10_bar_18_bar_0_bar_30 - location + loc_bar__minus_4_bar_17_bar_0_bar_0 - location + loc_bar__minus_6_bar_17_bar_0_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_60 - location + loc_bar__minus_5_bar_15_bar_0_bar_60 - location + loc_bar__minus_7_bar_15_bar_0_bar_60 - location + loc_bar__minus_2_bar_8_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_2_bar_45 - location + loc_bar__minus_2_bar_17_bar_0_bar_45 - location + loc_bar__minus_2_bar_15_bar_1_bar_45 - location + loc_bar__minus_4_bar_17_bar_0_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 HandTowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43 TowelHolderType) + (receptacleType Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86_bar_BathtubBasin BathtubBasinType) + (receptacleType CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63 CabinetType) + (receptacleType TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74 TowelHolderType) + (receptacleType HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 HandTowelHolderType) + (receptacleType Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 ToiletType) + (receptacleType Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 ShelfType) + (receptacleType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin SinkBasinType) + (receptacleType GarbageCan_bar__minus_02_dot_20_bar_00_dot_00_bar__plus_04_dot_95 GarbageCanType) + (objectType Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54 PlungerType) + (objectType SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 SprayBottleType) + (objectType Bathtub_bar__minus_02_dot_90_bar__plus_00_dot_67_bar__plus_02_dot_86 BathtubType) + (objectType HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelType) + (objectType SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 SprayBottleType) + (objectType LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 LightSwitchType) + (objectType ShowerGlass_bar__plus_00_dot_00_bar__plus_00_dot_00_bar__plus_00_dot_00 ShowerGlassType) + (objectType Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 CandleType) + (objectType Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 ClothType) + (objectType Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87 SinkType) + (objectType Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelType) + (objectType SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 SoapBottleType) + (objectType Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88 CandleType) + (objectType Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelType) + (objectType SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 SoapBottleType) + (objectType ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 ToiletPaperType) + (objectType Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 WindowType) + (objectType SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 SoapBarType) + (objectType ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86 ScrubBrushType) + (objectType SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 SoapBottleType) + (objectType ShowerDoor_bar__minus_00_dot_28_bar__plus_01_dot_23_bar__plus_01_dot_73 ShowerDoorType) + (objectType Mirror_bar__minus_00_dot_98_bar__plus_01_dot_58_bar__plus_05_dot_15 MirrorType) + (objectType SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 SoapBarType) + (objectType ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 ToiletPaperType) + (objectType SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90 SoapBarType) + (objectType TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 TissueBoxType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain HandTowelHolderType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain BathtubBasinType ClothType) + (canContain BathtubBasinType HandTowelType) + (canContain BathtubBasinType SoapBarType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType TissueBoxType) + (canContain CounterTopType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType TissueBoxType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain TowelHolderType TowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain ToiletType TissueBoxType) + (canContain ShelfType CandleType) + (canContain ShelfType SoapBarType) + (canContain ShelfType SprayBottleType) + (canContain ShelfType ToiletPaperType) + (canContain ShelfType SoapBottleType) + (canContain ShelfType ClothType) + (canContain ShelfType TissueBoxType) + (canContain ShelfType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType TissueBoxType) + (canContain GarbageCanType HandTowelType) + (pickupable Plunger_bar__minus_00_dot_21_bar_00_dot_00_bar__plus_03_dot_54) + (pickupable SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22) + (pickupable HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11) + (pickupable SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95) + (pickupable Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19) + (pickupable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74) + (pickupable Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43) + (pickupable SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93) + (pickupable Candle_bar__minus_03_dot_76_bar__plus_00_dot_69_bar__plus_03_dot_88) + (pickupable Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85) + (pickupable SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09) + (pickupable ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07) + (pickupable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95) + (pickupable ScrubBrush_bar__minus_00_dot_23_bar_00_dot_00_bar__plus_03_dot_86) + (pickupable SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56) + (pickupable SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88) + (pickupable ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37) + (pickupable SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90) + (pickupable TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67) + + (openable Cabinet_bar__minus_01_dot_96_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_01_dot_03_bar__plus_00_dot_36_bar__plus_04_dot_63) + (openable Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + + (atLocation agent1 loc_bar__minus_7_bar_9_bar_3_bar_30) + + (cleanable Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74) + (cleanable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95) + (cleanable SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88) + (cleanable SoapBar_bar__minus_02_dot_93_bar__plus_00_dot_68_bar__plus_02_dot_90) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_00_dot_34_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_00_dot_12_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle TissueBox_bar__minus_01_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_67 CounterTop_bar__minus_01_dot_02_bar__plus_00_dot_95_bar__plus_04_dot_88) + (inReceptacle SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_04_bar__plus_04_dot_95 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle ToiletPaper_bar__minus_01_dot_18_bar__plus_00_dot_04_bar__plus_05_dot_07 Cabinet_bar__minus_01_dot_06_bar__plus_00_dot_36_bar__plus_04_dot_63) + (inReceptacle Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 TowelHolder_bar__minus_01_dot_72_bar__plus_01_dot_21_bar__plus_01_dot_74) + (inReceptacle Towel_bar__minus_00_dot_18_bar__plus_01_dot_42_bar__plus_02_dot_43 TowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_41_bar__plus_02_dot_43) + (inReceptacle SoapBottle_bar__minus_03_dot_60_bar__plus_00_dot_55_bar__plus_00_dot_56 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle Cloth_bar__minus_03_dot_77_bar__plus_00_dot_54_bar__plus_00_dot_74 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95) + (inReceptacle HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15) + (inReceptacle ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22) + (inReceptacle SprayBottle_bar__minus_00_dot_22_bar__plus_01_dot_05_bar__plus_03_dot_22 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22) + (inReceptacle SoapBottle_bar__minus_00_dot_19_bar__plus_01_dot_05_bar__plus_03_dot_09 Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22) + + + 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HandTowelHolder_bar__minus_00_dot_07_bar__plus_01_dot_57_bar__plus_04_dot_81 loc_bar__minus_2_bar_16_bar_0_bar_0) + (receptacleAtLocation HandTowelHolder_bar__minus_02_dot_09_bar__plus_01_dot_54_bar__plus_05_dot_15 loc_bar__minus_9_bar_18_bar_0_bar_15) + (receptacleAtLocation Shelf_bar__minus_03_dot_71_bar__plus_00_dot_53_bar__plus_00_dot_95 loc_bar__minus_9_bar_8_bar_3_bar_30) + (receptacleAtLocation Sink_bar__minus_00_dot_58_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_2_bar_17_bar_0_bar_45) + (receptacleAtLocation Sink_bar__minus_01_dot_53_bar__plus_00_dot_93_bar__plus_04_dot_87_bar_SinkBasin loc_bar__minus_6_bar_17_bar_0_bar_45) + (receptacleAtLocation ToiletPaperHanger_bar__minus_00_dot_07_bar__plus_01_dot_13_bar__plus_03_dot_69 loc_bar__minus_2_bar_15_bar_1_bar_45) + (receptacleAtLocation Toilet_bar__minus_00_dot_52_bar_00_dot_00_bar__plus_03_dot_22 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation 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Window_bar__minus_01_dot_99_bar__plus_01_dot_89_bar__plus_00_dot_14 loc_bar__minus_8_bar_9_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_02_dot_90_bar__plus_00_dot_69_bar__plus_03_dot_19 loc_bar__minus_10_bar_11_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_03_dot_71_bar__plus_00_dot_55_bar__plus_00_dot_93 loc_bar__minus_9_bar_8_bar_3_bar_30) + (objectAtLocation HandTowel_bar__minus_02_dot_09_bar__plus_01_dot_44_bar__plus_05_dot_11 loc_bar__minus_9_bar_18_bar_0_bar_15) + (objectAtLocation Towel_bar__minus_01_dot_72_bar__plus_01_dot_23_bar__plus_01_dot_85 loc_bar__minus_7_bar_9_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_02_dot_50_bar__plus_01_dot_37_bar__plus_05_dot_15 loc_bar__minus_10_bar_18_bar_0_bar_30) + (objectAtLocation SoapBar_bar__minus_00_dot_21_bar__plus_00_dot_96_bar__plus_04_dot_88 loc_bar__minus_4_bar_17_bar_0_bar_45) + (objectAtLocation ToiletPaper_bar__minus_00_dot_19_bar__plus_01_dot_04_bar__plus_03_dot_37 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+ ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/traj_data.json b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..fd21e4e52406a0d5eb31f81f8f6e4e6b51cdf2b9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_clean_then_place_in_recep-SoapBar-None-Cabinet-402/trial_T20190908_055202_188428/traj_data.json @@ -0,0 +1,5676 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, 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+ }, + { + "objectName": "SprayBottle_5e1f325d", + "position": { + "x": -0.3447879, + "y": 0.0408498049, + "z": 4.946959 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_48a339cf", + "position": { + "x": -0.231531024, + "y": -0.000328551978, + "z": 3.857473 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_e4826671", + "position": { + "x": -0.212999284, + "y": -0.000791542232, + "z": 3.536999 + }, + "rotation": { + "x": -0.00118052587, + "y": 0.0004404002, + "z": 0.000781602052 + } + } + ], + "object_toggles": [], + "random_seed": 3277063154, + "scene_num": 402 + }, + "task_id": "trial_T20190908_055202_188428", + "task_type": "pick_clean_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2KAGFQU28JY43_392CY0QWG48HPMRTBWIV1YNYHNO4IO", + "high_descs": [ + "Turn to your left and go to the sink, then make a right to go to the other sink closest to the wall.", + "Pick up the bar of soap from the counter on the right side of the sink. ", + "Place the bar of soap in the sink, turn the water on, wash the sink, turn the water off and remove the bar of soap.", + "Step back from the sink with the bar of soap. ", + "Place the bar of soap in the right cabinet, under the sink." + ], + "task_desc": "Put a wet bar of soap under the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3MLUEOP3CCLXL_3AAJC4I4FJ9TNUZOE7TL7VF7VXHJZS", + "high_descs": [ + "Turn left and head to the vanity with the sinks. the turn right and cross the room, turn left to face the sink on the right", + "Pick up the soap that is on the right of the ink", + "Place the soap into the sink and then turn on the water to rinse the soap. Then turn off the water", + "Take a step backwards and continue to face the sink", + "Open the right cabinet and place the soap inside and to the left, then close the cabinet" + ], + "task_desc": "Place wet soap into a cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ALKQPW0O9C98N_3PMBY0YE2AKR9PB50HI0730JQAM9CR", + "high_descs": [ + "Go to the sink", + "Pick up the pink soap to the right of the sink", + "Put the soap in the sink, turn on the water, drain the sink and pick up the soap", + "Turn left in a full circle", + "Open the bottom right cabinet drawer under the sink and put the soap on the left front side." + ], + "task_desc": "Wash the soap and put it in a cabinet under the sink", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3119761ee74d0e2bf720dde8556fc788a581a67b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool apple in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_044958_536304)\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_16_bar__plus_00_dot_97_bar__minus_01_dot_26 - object\n Apple_bar__plus_01_dot_71_bar__plus_00_dot_13_bar__plus_01_dot_68 - object\n Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_55 - object\n Bowl_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_01_dot_16 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Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object\n Spoon_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_63 - object\n Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 - object\n StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 - object\n Tomato_bar__plus_01_dot_59_bar__plus_00_dot_98_bar__minus_01_dot_37 - object\n Tomato_bar__plus_01_dot_76_bar__plus_00_dot_97_bar__plus_01_dot_00 - object\n Tomato_bar__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 - object\n Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object\n Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object\n 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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_1_bar_9_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 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CabinetType)\n (objectType Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 PotatoType)\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 Egg_bar__plus_01_dot_74_bar__plus_01_dot_05_bar__minus_00_dot_89 EggType)\n (objectType Tomato_bar__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 TomatoType)\n (objectType Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 MugType)\n (objectType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 SinkType)\n (objectType PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_40 PepperShakerType)\n (objectType Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 PotType)\n (objectType SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_63_bar__minus_00_dot_90 SoapBottleType)\n (objectType 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(inReceptacle PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_40 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59)\n (inReceptacle SoapBottle_bar__plus_01_dot_77_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 PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_63_bar__minus_01_dot_34 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21)\n (inReceptacle PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__minus_01_dot_85 Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89)\n (inReceptacle SaltShaker_bar__plus_01_dot_88_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_80_bar__plus_00_dot_07_bar__plus_01_dot_64 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Apple_bar__plus_01_dot_71_bar__plus_00_dot_13_bar__plus_01_dot_68 GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69)\n (inReceptacle Cup_bar__plus_00_dot_96_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 Potato_bar__plus_01_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_54 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_01_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_54 Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin)\n (inReceptacle Egg_bar__plus_01_dot_74_bar__plus_01_dot_05_bar__minus_00_dot_89 Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84)\n (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60)\n (inReceptacle Egg_bar__minus_00_dot_79_bar__plus_00_dot_78_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Tomato_bar__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Egg_bar__minus_00_dot_79_bar__plus_00_dot_79_bar__minus_01_dot_49 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Bread_bar__minus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_41 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacle Cup_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_66 Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55)\n (inReceptacleObject Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_72 Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_55)\n \n \n (receptacleAtLocation 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(objectAtLocation Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_16_bar__plus_00_dot_97_bar__minus_01_dot_26 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_88_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__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 loc_bar__minus_1_bar_11_bar_0_bar_0)\n (objectAtLocation Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 loc_bar_3_bar__minus_3_bar_2_bar_0)\n (objectAtLocation Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_61_bar__plus_00_dot_94_bar__plus_00_dot_42 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__plus_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_63_bar__minus_01_dot_34 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\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_80_bar__plus_00_dot_07_bar__plus_01_dot_64 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_63 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_55 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take apple 2 from countertop 2", "go to fridge 1", "cool apple 2 with fridge 1", "go to coffeemachine 1", "move apple 2 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ae5bfaf41233660b15af9b81c11046bd22b8519e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_044958_536304/initial_state.pddl @@ -0,0 +1,853 @@ + +(define (problem plan_trial_T20190909_044958_536304) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_16_bar__plus_00_dot_97_bar__minus_01_dot_26 - object + Apple_bar__plus_01_dot_71_bar__plus_00_dot_13_bar__plus_01_dot_68 - object + Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_55 - object + Bowl_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_01_dot_16 - object + Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Bread_bar__minus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_41 - object + ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_18 - 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_96_bar__plus_00_dot_76_bar__minus_01_dot_65 - object + Cup_bar__minus_00_dot_69_bar__plus_01_dot_39_bar__minus_01_dot_66 - object + DishSponge_bar__plus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_64 - object + Egg_bar__plus_01_dot_74_bar__plus_01_dot_05_bar__minus_00_dot_89 - object + Egg_bar__minus_00_dot_79_bar__plus_00_dot_78_bar__minus_01_dot_59 - object + Egg_bar__minus_00_dot_79_bar__plus_00_dot_79_bar__minus_01_dot_49 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_00_dot_22_bar__plus_00_dot_91_bar__plus_00_dot_83 - object + Fork_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_79 - object + Knife_bar__plus_01_dot_61_bar__plus_00_dot_94_bar__plus_00_dot_42 - object + Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_72 - object + Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Ladle_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42 - 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_48_bar__plus_00_dot_91_bar__plus_01_dot_18 - 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_01_dot_73_bar__plus_01_dot_63_bar__minus_01_dot_34 - object + PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__minus_01_dot_85 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_40 - object + Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 - object + Potato_bar__plus_01_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Potato_bar__plus_01_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_54 - object + Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 - object + Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 - object + SaltShaker_bar__plus_01_dot_88_bar__plus_01_dot_64_bar__minus_01_dot_77 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_63_bar__minus_00_dot_90 - object + SoapBottle_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_29 - object + SoapBottle_bar__plus_01_dot_84_bar__plus_02_dot_14_bar__plus_00_dot_88 - object + Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 - object + Spoon_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_63 - object + Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 - 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_59_bar__plus_00_dot_98_bar__minus_01_dot_37 - object + Tomato_bar__plus_01_dot_76_bar__plus_00_dot_97_bar__plus_01_dot_00 - object + Tomato_bar__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 - object + Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 - object + Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 - object + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 - receptacle + Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 - receptacle + CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 - receptacle + Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 - receptacle + GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 - receptacle + Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 - receptacle + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - receptacle + StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - receptacle + Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 - receptacle + loc_bar_4_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_9_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_4_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_9_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_15 - location + loc_bar_1_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar_1_bar_0_bar_45 - location + loc_bar_6_bar_9_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_15 - location + loc_bar_4_bar_0_bar_1_bar__minus_30 - location + loc_bar_0_bar_7_bar_1_bar_60 - location + loc_bar_3_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_4_bar_0_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_1_bar_11_bar_0_bar_0 - location + loc_bar_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_1_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_0 - location + loc_bar_6_bar_11_bar_1_bar_45 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar__minus_3_bar_2_bar_45 - location + loc_bar_1_bar_9_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 Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 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 Egg_bar__plus_01_dot_74_bar__plus_01_dot_05_bar__minus_00_dot_89 EggType) + (objectType Tomato_bar__minus_00_dot_69_bar__plus_01_dot_75_bar__minus_01_dot_59 TomatoType) + (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 PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_65_bar__minus_00_dot_40 PepperShakerType) + (objectType Pot_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_06 PotType) + (objectType SoapBottle_bar__plus_01_dot_77_bar__plus_01_dot_63_bar__minus_00_dot_90 SoapBottleType) + (objectType Apple_bar__plus_00_dot_16_bar__plus_00_dot_97_bar__minus_01_dot_26 AppleType) + (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 DishSponge_bar__plus_01_dot_80_bar__plus_00_dot_07_bar__plus_01_dot_64 DishSpongeType) + (objectType Potato_bar__plus_01_dot_03_bar__plus_00_dot_80_bar__minus_01_dot_54 PotatoType) + (objectType Spoon_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_01_dot_09 SpoonType) + (objectType Bowl_bar__plus_01_dot_81_bar__plus_02_dot_13_bar__plus_01_dot_16 BowlType) + (objectType Bowl_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_55 BowlType) + (objectType PepperShaker_bar__plus_01_dot_77_bar__plus_01_dot_64_bar__minus_01_dot_85 PepperShakerType) + (objectType Plate_bar__plus_01_dot_80_bar__plus_01_dot_65_bar_00_dot_00 PlateType) + (objectType ButterKnife_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_01_dot_18 ButterKnifeType) + (objectType Spoon_bar__plus_01_dot_59_bar__plus_00_dot_91_bar__minus_01_dot_63 SpoonType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 StoveKnobType) + (objectType Pan_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 PanType) + (objectType Window_bar__minus_00_dot_37_bar__plus_01_dot_59_bar__plus_03_dot_35 WindowType) + (objectType SoapBottle_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_29 SoapBottleType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 StoveKnobType) + (objectType Ladle_bar__plus_01_dot_45_bar__plus_00_dot_95_bar__plus_00_dot_42 LadleType) + (objectType Potato_bar__plus_01_dot_24_bar__plus_00_dot_80_bar__minus_01_dot_54 PotatoType) + (objectType Window_bar__plus_00_dot_78_bar__plus_01_dot_74_bar__minus_01_dot_89 WindowType) + (objectType Spatula_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_01_dot_00 SpatulaType) + (objectType Fork_bar__plus_00_dot_46_bar__plus_00_dot_91_bar__minus_01_dot_79 ForkType) + (objectType Ladle_bar__plus_01_dot_20_bar__plus_00_dot_93_bar__plus_00_dot_74 LadleType) + (objectType Chair_bar__plus_01_dot_09_bar__plus_00_dot_00_bar__plus_01_dot_74 ChairType) + (objectType SaltShaker_bar__plus_01_dot_88_bar__plus_01_dot_64_bar__minus_01_dot_77 SaltShakerType) + (objectType Bread_bar__minus_00_dot_74_bar__plus_00_dot_54_bar__minus_01_dot_41 BreadType) + (objectType Lettuce_bar__plus_00_dot_86_bar__plus_00_dot_99_bar__plus_01_dot_12 LettuceType) + (objectType Cup_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_65 CupType) + (objectType Bread_bar__plus_01_dot_62_bar__plus_00_dot_98_bar__plus_00_dot_76 BreadType) + (objectType StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 StoveKnobType) + (objectType PepperShaker_bar__plus_01_dot_73_bar__plus_01_dot_63_bar__minus_01_dot_34 PepperShakerType) + (objectType Mug_bar__plus_00_dot_48_bar__plus_00_dot_91_bar__plus_01_dot_18 MugType) + (objectType Tomato_bar__plus_01_dot_76_bar__plus_00_dot_97_bar__plus_01_dot_00 TomatoType) + (objectType Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_72 KnifeType) + (objectType 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"position": { + "x": 1.8097, + "y": 2.1348474, + "z": 1.15999985 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_f9995e03", + "position": { + "x": 0.476415873, + "y": 0.9056, + "z": 1.18092084 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 310521567, + "scene_num": 14 + }, + "task_id": "trial_T20190909_044958_536304", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3TOK3KHVJW9WPK6D7XIOPTNWEG4O7B", + "high_descs": [ + "Turn around and walk forward to the kitchen counter just left of the fridge", + "Pick up the red apple from the counter", + "Turn right and walk up to the fridge", + "Put the apple in the fridge then remove it", + "Move a couple feet left then turn right to face the counter", + "Put the chilled apple on the counter" + ], + "task_desc": "Put the apple on the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3TPZPLC3M33W91HRKLSD1CG6JJBP3L", + "high_descs": [ + "Turn around and walk ahead, to the left side of the fridge.", + "Pick up the apple on the counter.", + "Take a step right.", + "Open the fridge and place the apple on the shelf with the two eggs, to the left of the eggs. Close the door, wait a moment, and take the apple out again.", + "Take a step left.", + "Place the apple on the counter in front of the coffee maker." + ], + "task_desc": "Place a chilled apple on a counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3NAPMVF0ZZ6IIDH8KZKRIGKTDB227D", + "high_descs": [ + "Turn left then cross the room head to the counter with toaster", + "Pick up the apple in front of the toaster", + "Turn to your right and turn left face the fridge", + "Open the fridge chill the apple take it out then close the fridge", + "Turn left move forward then turn right to the coffee maker", + "Put the apple on the counter in front of the cofffee maker" + ], + "task_desc": "Put the chilled apple on the counter", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2191f07c0cd7acc166fb18b3488c05d726a9c9d3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool apple in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_045026_110157)\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_77_bar__plus_00_dot_13_bar__plus_01_dot_59 - object\n Bowl_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 - object\n Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_09 - object\n ButterKnife_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_83 - 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_00_dot_92 - object\n DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_23 - object\n DishSponge_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_57 - object\n Egg_bar__plus_01_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_60 - object\n Egg_bar__minus_00_dot_84_bar__plus_01_dot_42_bar__minus_01_dot_70 - object\n Egg_bar__minus_00_dot_84_bar__plus_01_dot_72_bar__minus_01_dot_49 - object\n Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object\n Fork_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_18 - object\n Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_37 - object\n Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 - object\n Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_63 - object\n Ladle_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__plus_01_dot_00 - object\n Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar__minus_00_dot_05 - object\n Lettuce_bar__plus_01_dot_73_bar__plus_01_dot_01_bar__minus_01_dot_72 - object\n LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 - object\n Mug_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_71 - object\n Mug_bar__minus_00_dot_79_bar__plus_00_dot_46_bar__minus_01_dot_61 - object\n Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object\n PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_00_dot_83 - object\n PepperShaker_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 - object\n Plate_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_38 - object\n Plate_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 - object\n Potato_bar__plus_01_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_65 - object\n Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 - object\n Pot_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object\n SaltShaker_bar__plus_01_dot_74_bar__plus_01_dot_63_bar__minus_00_dot_97 - object\n SaltShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_45 - object\n Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object\n SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 - object\n SoapBottle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_46 - object\n SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_47 - object\n Spatula_bar__plus_01_dot_50_bar__plus_00_dot_93_bar__plus_00_dot_92 - object\n Spatula_bar__plus_01_dot_76_bar__plus_00_dot_93_bar__plus_00_dot_74 - object\n Spatula_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_57 - object\n Spoon_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_47 - 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_06_bar__plus_00_dot_98_bar__minus_01_dot_26 - object\n Tomato_bar__plus_01_dot_74_bar__plus_00_dot_13_bar__plus_01_dot_73 - object\n Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_48 - 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_2_bar_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 FridgeType)\n (receptacleType GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 GarbageCanType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_21 CabinetType)\n (receptacleType Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin SinkBasinType)\n (receptacleType Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 MicrowaveType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 CounterTopType)\n (receptacleType Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__plus_00_dot_67 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_00_dot_61 CabinetType)\n (receptacleType CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_05_bar__minus_01_dot_89 CabinetType)\n (objectType Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 PotType)\n (objectType Ladle_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__plus_01_dot_00 LadleType)\n (objectType Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 PotatoType)\n (objectType Lettuce_bar__plus_01_dot_73_bar__plus_01_dot_01_bar__minus_01_dot_72 LettuceType)\n (objectType SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_47 SoapBottleType)\n (objectType Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_37 ForkType)\n (objectType Chair_bar__plus_00_dot_40_bar__plus_00_dot_00_bar__plus_01_dot_72 ChairType)\n (objectType Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 PanType)\n (objectType 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Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__plus_00_dot_19 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_06_bar__minus_00_dot_59 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_00_dot_69 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_66_bar__plus_02_dot_30_bar__plus_01_dot_31 loc_bar_6_bar_9_bar_2_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_01_dot_60 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__plus_01_dot_02 loc_bar_4_bar_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_99_bar__plus_00_dot_95_bar__minus_01_dot_52 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_00_dot_53_bar__plus_00_dot_00_bar__minus_01_dot_55 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_77_bar__plus_00_dot_00_bar__plus_01_dot_69 loc_bar_6_bar_9_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_75_bar__plus_00_dot_90_bar__minus_00_dot_84 loc_bar_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60_bar_SinkBasin loc_bar_4_bar__minus_3_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_55_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_13_bar__plus_00_dot_90_bar__minus_01_dot_59 loc_bar_1_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_00_dot_93_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_81_bar__plus_00_dot_91_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_00_dot_83 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_63 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_65 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_50_bar__plus_00_dot_93_bar__plus_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_45 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar__minus_30)\n (objectAtLocation Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_37 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_84_bar__plus_01_dot_72_bar__minus_01_dot_49 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_47 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 loc_bar_4_bar_1_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__minus_00_dot_79_bar__plus_00_dot_46_bar__minus_01_dot_61 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_74_bar__plus_00_dot_13_bar__plus_01_dot_73 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_46 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_60 loc_bar_4_bar__minus_3_bar_2_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_76_bar__plus_00_dot_93_bar__plus_00_dot_74 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_64_bar__minus_01_dot_38 loc_bar_4_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 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_00_dot_92 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_84_bar__plus_01_dot_42_bar__minus_01_dot_70 loc_bar__minus_2_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Fork_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__plus_01_dot_00 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_01_dot_77_bar__plus_00_dot_13_bar__plus_01_dot_59 loc_bar_6_bar_9_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__plus_01_dot_74_bar__plus_01_dot_63_bar__minus_00_dot_97 loc_bar_3_bar__minus_3_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar_4_bar_0_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_00_dot_06_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_84_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_83 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__plus_00_dot_09 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_18 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_32 loc_bar_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_36_bar__plus_00_dot_82_bar__minus_00_dot_05 loc_bar_4_bar_0_bar_1_bar_60)\n (objectAtLocation Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_09 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_73_bar__plus_01_dot_01_bar__minus_01_dot_72 loc_bar_2_bar__minus_3_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 loc_bar_2_bar_0_bar_1_bar__minus_15)\n (objectAtLocation Pot_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 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_53_bar__plus_00_dot_91_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_47 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o AppleType)\n (receptacleType ?r CounterTopType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take apple 1 from garbagecan 1", "go to fridge 1", "cool apple 1 with fridge 1", "go to coffeemachine 1", "move apple 1 to countertop 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..97ccdf6828bc982d4aae54a2a2f2528187819f9c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/initial_state.pddl @@ -0,0 +1,840 @@ + +(define (problem plan_trial_T20190909_045026_110157) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_77_bar__plus_00_dot_13_bar__plus_01_dot_59 - object + Bowl_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + Bread_bar__plus_01_dot_76_bar__plus_00_dot_99_bar__plus_01_dot_09 - object + ButterKnife_bar__plus_01_dot_50_bar__plus_00_dot_91_bar__plus_00_dot_83 - 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_00_dot_92 - object + DishSponge_bar__plus_00_dot_93_bar__plus_00_dot_91_bar__minus_01_dot_23 - object + DishSponge_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_57 - object + Egg_bar__plus_01_dot_31_bar__plus_00_dot_80_bar__minus_01_dot_60 - object + Egg_bar__minus_00_dot_84_bar__plus_01_dot_42_bar__minus_01_dot_70 - object + Egg_bar__minus_00_dot_84_bar__plus_01_dot_72_bar__minus_01_dot_49 - object + Faucet_bar__plus_01_dot_11_bar__plus_01_dot_14_bar__minus_01_dot_76 - object + Fork_bar__plus_00_dot_73_bar__plus_00_dot_91_bar__plus_01_dot_18 - object + Fork_bar__plus_01_dot_80_bar__plus_00_dot_91_bar__minus_01_dot_37 - object + Knife_bar__plus_00_dot_99_bar__plus_00_dot_94_bar__plus_00_dot_83 - object + Knife_bar__plus_01_dot_80_bar__plus_00_dot_94_bar__minus_01_dot_63 - object + Ladle_bar__plus_00_dot_22_bar__plus_00_dot_95_bar__plus_01_dot_00 - object + Ladle_bar__plus_01_dot_81_bar__plus_01_dot_70_bar__minus_00_dot_05 - object + Lettuce_bar__plus_01_dot_73_bar__plus_01_dot_01_bar__minus_01_dot_72 - object + LightSwitch_bar__plus_02_dot_00_bar__plus_01_dot_26_bar__plus_03_dot_09 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_01_dot_46 - object + Mug_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_71 - object + Mug_bar__minus_00_dot_79_bar__plus_00_dot_46_bar__minus_01_dot_61 - object + Pan_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + PepperShaker_bar__plus_01_dot_84_bar__plus_01_dot_63_bar__minus_00_dot_83 - object + PepperShaker_bar__plus_01_dot_88_bar__plus_01_dot_65_bar__minus_00_dot_35 - object + Plate_bar__plus_01_dot_81_bar__plus_01_dot_64_bar__minus_01_dot_38 - object + Plate_bar__plus_01_dot_81_bar__plus_02_dot_14_bar__plus_00_dot_84 - object + Potato_bar__plus_01_dot_10_bar__plus_00_dot_80_bar__minus_01_dot_65 - object + Potato_bar__plus_01_dot_53_bar__plus_00_dot_95_bar__plus_00_dot_31 - object + Pot_bar__plus_01_dot_54_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + Pot_bar__plus_01_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_32 - object + SaltShaker_bar__plus_01_dot_74_bar__plus_01_dot_63_bar__minus_00_dot_97 - object + SaltShaker_bar__plus_01_dot_77_bar__plus_01_dot_65_bar__minus_00_dot_45 - object + Sink_bar__plus_01_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_60 - object + SoapBottle_bar__plus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_26 - object + SoapBottle_bar__plus_01_dot_73_bar__plus_00_dot_91_bar__minus_01_dot_46 - object + SoapBottle_bar__plus_01_dot_76_bar__plus_00_dot_91_bar__plus_00_dot_47 - object + Spatula_bar__plus_01_dot_50_bar__plus_00_dot_93_bar__plus_00_dot_92 - object + Spatula_bar__plus_01_dot_76_bar__plus_00_dot_93_bar__plus_00_dot_74 - object + Spatula_bar__plus_01_dot_84_bar__plus_00_dot_93_bar__plus_00_dot_57 - object + Spoon_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_47 - 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_06_bar__plus_00_dot_98_bar__minus_01_dot_26 - object + Tomato_bar__plus_01_dot_74_bar__plus_00_dot_13_bar__plus_01_dot_73 - object + Tomato_bar__minus_00_dot_74_bar__plus_00_dot_52_bar__minus_01_dot_48 - 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 - 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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_6_bar_2_bar_30 - location + ) + + +(:init + + + 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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 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(objectAtLocation DishSponge_bar__plus_01_dot_53_bar__plus_00_dot_91_bar__plus_00_dot_57 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_61_bar__plus_00_dot_91_bar__plus_00_dot_47 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_00_dot_99_bar__plus_00_dot_91_bar__plus_01_dot_18 loc_bar_4_bar_1_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_96_bar__plus_00_dot_76_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o AppleType) + (receptacleType ?r CounterTopType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Apple-None-CounterTop-14/trial_T20190909_045026_110157/traj_data.json 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0.940499961, + "z": -1.4606 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4096592932, + "scene_num": 14 + }, + "task_id": "trial_T20190909_045026_110157", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2A028LRDJB7ZB_3BDCF01OG0L7YJZHHESWAP3ZN9RLY9", + "high_descs": [ + "Turn left then head to the trash bin", + "Pick up the apple in the trash bin", + "Turn right then head to the fridge", + "Open the fridge then put in and out the apple then close the fridge", + "Turn left then head to the counter with coffee maker", + "Put the apple on the counter in front of the coffee maker" + ], + "task_desc": "Put the chilled apple on the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3SPJ033424U13TBHETGJUAQ7JK7JYQ", + "high_descs": [ + "Walk to the bin to the left of the yellow chairs. ", + "Pick up the apple from the black bin. ", + "Walk over to the fridge on the other side of the room. ", + "Put the apple in the fridge, close the door, take the apple out of the fridge, and close the door. ", + "Walk to the counter to the left of the fridge with the coffee maker. ", + "Put the apple down on the counter in front of the coffee maker. " + ], + "task_desc": "To chill an apple and put it down on the counter. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3FIJLY1B6XVRPDXK4GTF2L53M86FP8", + "high_descs": [ + "Turn around and go across the room to face the black bin", + "Pick up an apple from the bin", + "Go to the fridge", + "Open the fridge, put the apple on a tray, close the fridge, wait a few seconds, and take out the apple from the fridge", + "Turn left, move forward, and turn right to face the coffee maker", + "Put the apple on the counter in front of the coffee maker" + ], + "task_desc": "Put a chilled apple on the counter in front of the coffee maker", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..eba473be05c2b9eaa313507f87b7a26321a0c416 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool bread in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_035642_699545)\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_14_bar__plus_00_dot_81_bar__plus_03_dot_76 - object\n Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15 - object\n Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 - object\n Bowl_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_36 - object\n Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18 - object\n Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12 - object\n ButterKnife_bar__plus_01_dot_61_bar__plus_00_dot_80_bar__plus_01_dot_64 - object\n ButterKnife_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 - object\n Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50 - object\n DishSponge_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 - object\n DishSponge_bar__plus_02_dot_70_bar__plus_00_dot_76_bar__plus_03_dot_69 - object\n Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57 - object\n Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_04_dot_12 - object\n Fork_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 - object\n Glassbottle_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_18 - object\n Glassbottle_bar__minus_00_dot_95_bar__plus_00_dot_79_bar__minus_00_dot_30 - object\n HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object\n HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object\n Knife_bar__plus_01_dot_87_bar__plus_00_dot_83_bar__plus_01_dot_35 - object\n Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 - object\n Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45 - object\n Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 - object\n Ladle_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__plus_04_dot_41 - object\n Ladle_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_04_dot_04 - object\n Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43 - object\n Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18 - object\n LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object\n Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34 - object\n Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 - object\n Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16 - object\n Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_63 - object\n PaperTowelRoll_bar__plus_01_dot_41_bar__plus_01_dot_13_bar__minus_01_dot_67 - object\n PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_02_bar__plus_02_dot_07 - object\n Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46 - object\n Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56 - object\n Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74 - object\n Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 - object\n SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_13 - object\n SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_84 - object\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object\n SoapBottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_07 - object\n SoapBottle_bar__plus_02_dot_88_bar__plus_01_dot_03_bar__minus_01_dot_76 - object\n Spatula_bar__plus_02_dot_30_bar__plus_00_dot_78_bar__plus_03_dot_97 - object\n Spatula_bar__plus_02_dot_33_bar__plus_01_dot_04_bar__plus_00_dot_96 - object\n Spatula_bar__minus_00_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_45 - object\n Spoon_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 - object\n Spoon_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_10 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 - object\n Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object\n WineBottle_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_04_dot_32 - object\n WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_32 - object\n Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle\n Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle\n CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle\n CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle\n DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle\n Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle\n Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle\n Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle\n Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle\n Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle\n Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n loc_bar_2_bar_6_bar_3_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_10_bar_12_bar_0_bar_45 - location\n loc_bar_0_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar_11_bar_3_bar_30 - location\n loc_bar_7_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_0_bar_1_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar__minus_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar_45 - location\n loc_bar_8_bar__minus_1_bar_0_bar_45 - location\n loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar__minus_30 - location\n loc_bar_7_bar_3_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_3_bar_0_bar_45 - location\n loc_bar_0_bar__minus_1_bar_3_bar_60 - location\n loc_bar_6_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar_9_bar_3_bar_30 - location\n loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_2_bar_2_bar_3_bar_30 - location\n loc_bar_2_bar_8_bar_3_bar_60 - location\n loc_bar_8_bar_2_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_30 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_30 - location\n loc_bar_2_bar_4_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_7_bar__minus_3_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_60 - location\n loc_bar_0_bar_9_bar_3_bar_30 - location\n loc_bar_4_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar_1_bar_1_bar_60 - location\n loc_bar__minus_2_bar__minus_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType)\n (receptacleType 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Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56)\n (cleanable Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76)\n (cleanable Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34)\n (cleanable DishSponge_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62)\n (cleanable Spoon_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_10)\n (cleanable Spatula_bar__plus_02_dot_33_bar__plus_01_dot_04_bar__plus_00_dot_96)\n (cleanable Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90)\n (cleanable Fork_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_04_dot_12)\n (cleanable Ladle_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_04_dot_04)\n (cleanable Spatula_bar__plus_02_dot_30_bar__plus_00_dot_78_bar__plus_03_dot_97)\n (cleanable Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56)\n (cleanable Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16)\n (cleanable Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45)\n (cleanable Ladle_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__plus_04_dot_41)\n (cleanable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32)\n (cleanable Spatula_bar__minus_00_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_45)\n (cleanable Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57)\n (cleanable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18)\n (cleanable ButterKnife_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20)\n \n (heatable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41)\n (heatable Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46)\n (heatable Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15)\n (heatable Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87)\n (heatable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (heatable Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50)\n (heatable Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74)\n (heatable Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76)\n (heatable Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34)\n (heatable Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12)\n (heatable Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90)\n (heatable Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56)\n (heatable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32)\n (heatable Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57)\n (coolable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41)\n (coolable Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46)\n (coolable Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15)\n (coolable Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (coolable Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_63)\n (coolable WineBottle_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_04_dot_32)\n (coolable Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (coolable Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87)\n (coolable Bowl_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_36)\n (coolable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (coolable Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43)\n (coolable Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50)\n (coolable Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74)\n (coolable Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76)\n (coolable Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34)\n (coolable Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12)\n (coolable Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90)\n (coolable WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_32)\n (coolable Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56)\n (coolable Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16)\n (coolable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32)\n (coolable Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57)\n (coolable Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18)\n \n \n \n \n \n (sliceable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41)\n (sliceable Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15)\n (sliceable Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (sliceable Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87)\n (sliceable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56)\n (sliceable Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43)\n (sliceable Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74)\n (sliceable Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76)\n (sliceable Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12)\n (sliceable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32)\n (sliceable Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57)\n \n (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60)\n (inReceptacle Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Spatula_bar__plus_02_dot_33_bar__plus_01_dot_04_bar__plus_00_dot_96 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_41_bar__plus_01_dot_13_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle SoapBottle_bar__plus_02_dot_88_bar__plus_01_dot_03_bar__minus_01_dot_76 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Spoon_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Ladle_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__plus_04_dot_41 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Fork_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Ladle_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle WineBottle_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spatula_bar__plus_02_dot_30_bar__plus_00_dot_78_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle ButterKnife_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle DishSponge_bar__plus_02_dot_70_bar__plus_00_dot_76_bar__plus_03_dot_69 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle DishSponge_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spatula_bar__minus_00_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62)\n (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_02_bar__plus_02_dot_07 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_32 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_84 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70)\n (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_13 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27)\n (inReceptacle Knife_bar__plus_01_dot_87_bar__plus_00_dot_83_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35)\n (inReceptacle ButterKnife_bar__plus_01_dot_61_bar__plus_00_dot_80_bar__plus_01_dot_64 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67)\n (inReceptacle Bowl_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60)\n (inReceptacle SoapBottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_07 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34)\n (inReceptacle Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_63 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Glassbottle_bar__minus_00_dot_95_bar__plus_00_dot_79_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83)\n (inReceptacle Spoon_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Fork_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Glassbottle_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30)\n (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_85_bar__plus_00_dot_81_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_36 loc_bar_0_bar_5_bar_3_bar__minus_30)\n (objectAtLocation DishSponge_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_45 loc_bar_2_bar_2_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__plus_02_dot_88_bar__plus_01_dot_03_bar__minus_01_dot_76 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Glassbottle_bar__minus_00_dot_95_bar__plus_00_dot_79_bar__minus_00_dot_30 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_87_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_02_dot_33_bar__plus_01_dot_04_bar__plus_00_dot_96 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Ladle_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__plus_04_dot_41 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_63 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Glassbottle_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_07 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_32 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Spatula_bar__plus_02_dot_30_bar__plus_00_dot_78_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_41_bar__plus_01_dot_13_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_13 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_02_bar__plus_02_dot_07 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_61_bar__plus_00_dot_80_bar__plus_01_dot_64 loc_bar_4_bar_3_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__plus_02_dot_70_bar__plus_00_dot_76_bar__plus_03_dot_69 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 loc_bar_0_bar_9_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 BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take bread 1 from diningtable 1", "go to fridge 1", "cool bread 1 with fridge 1", "go to diningtable 1", "move bread 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..413049a6ed1da5efbfa0a9c20f7481157881db6d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_035642_699545/initial_state.pddl @@ -0,0 +1,1448 @@ + +(define (problem plan_trial_T20190908_035642_699545) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + 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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Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18) + + + + + + (sliceable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41) + (sliceable Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15) + (sliceable Lettuce_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18) + (sliceable Egg_bar__minus_01_dot_08_bar__plus_00_dot_12_bar__plus_02_dot_87) + (sliceable Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56) + (sliceable Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43) + (sliceable Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74) + (sliceable Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76) + (sliceable Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12) + (sliceable Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32) + (sliceable Egg_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_57) + + (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Pan_bar__plus_01_dot_95_bar__plus_01_dot_03_bar__plus_01_dot_16 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_02_dot_33_bar__plus_01_dot_04_bar__plus_00_dot_96 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_41_bar__plus_01_dot_13_bar__minus_01_dot_67 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_01_dot_46 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pot_bar__plus_02_dot_18_bar__plus_01_dot_03_bar__minus_01_dot_60 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_01_dot_78_bar__plus_01_dot_07_bar__plus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_02_dot_88_bar__plus_01_dot_03_bar__minus_01_dot_76 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_01_dot_93_bar__plus_00_dot_83_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_60_bar__plus_00_dot_79_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Ladle_bar__plus_02_dot_11_bar__plus_00_dot_80_bar__plus_04_dot_41 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__plus_02_dot_28_bar__plus_00_dot_77_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Tomato_bar__plus_02_dot_53_bar__plus_00_dot_82_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_60_bar__plus_00_dot_81_bar__plus_04_dot_15 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Ladle_bar__plus_02_dot_63_bar__plus_00_dot_80_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle WineBottle_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__plus_02_dot_30_bar__plus_00_dot_78_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_14_bar__plus_00_dot_81_bar__plus_03_dot_76 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle DishSponge_bar__plus_02_dot_70_bar__plus_00_dot_76_bar__plus_03_dot_69 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle DishSponge_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_62 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__minus_00_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_45 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Mug_bar__minus_00_dot_92_bar__plus_01_dot_02_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PepperShaker_bar__minus_00_dot_79_bar__plus_01_dot_02_bar__plus_02_dot_07 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_00_dot_32 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Lettuce_bar__minus_00_dot_42_bar__plus_01_dot_09_bar__plus_02_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_84 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle SaltShaker_bar__plus_02_dot_54_bar__plus_00_dot_80_bar__minus_00_dot_13 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27) + (inReceptacle Knife_bar__plus_01_dot_87_bar__plus_00_dot_83_bar__plus_01_dot_35 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35) + (inReceptacle ButterKnife_bar__plus_01_dot_61_bar__plus_00_dot_80_bar__plus_01_dot_64 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67) + (inReceptacle Bowl_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60) + (inReceptacle SoapBottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_07 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34) + (inReceptacle Potato_bar__minus_00_dot_91_bar__plus_00_dot_83_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Pan_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_63 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Glassbottle_bar__minus_00_dot_95_bar__plus_00_dot_79_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Bowl_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + 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"Bread_7275394e", + "position": { + "x": 1.92599988, + "y": 0.832571, + "z": 4.118437 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": 1.92599988, + "y": 0.76306, + "z": 3.8957808 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.30256248, + "y": 0.7640346, + "z": 3.62 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": -0.9454059, + "y": 1.78003919, + "z": 1.363093 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -0.6459911, + "y": 0.8176854, + "z": 1.10397112 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.851217866, + "y": 0.81155616, + "z": 1.33710945 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2891665301, + "scene_num": 16 + }, + "task_id": "trial_T20190908_035642_699545", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A2JBNDG0U9IA6I_3I2PTA7R3WBFKM4F9WAKHH3G5B5KQR", + "high_descs": [ + "Turn right and walk straight to the end of the kitchen then turn right and walk up to the white table", + "Pick up the loaf of bread from the table", + "Turn right and go straight then turn to the right and face the refrigerator ", + "Open the fridge place the bread inside and close the door, let chill then remove the bread from the refrigerator", + "Turn right and walk straight to the end of the kitchen then turn right and walk up to the white table", + "Set the loaf of bread on the table next to the green sponge" + ], + "task_desc": "Cool down a loaf of bread followed by placing it on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3M23Y66PO5OKYNY3ZW5O2YDZM46S6J", + "high_descs": [ + "Move across the kitchen to the white round table in the corner.", + "Pick up the bread on the table. ", + "Bring the bread back across the kitchen to the fridge on the right.", + "Chill the bread in the fridge. ", + "Take the chilled bread back across the kitchen to the round table to the right.", + "Put the chilled bread on the table. " + ], + "task_desc": "Put chilled bread on the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3NC5L260MR31JOZLT8RJCZGBIE8OFN", + "high_descs": [ + "go forward to the white dining table to the right", + "pick up loaf of break from dining table", + "turn right, go forward to refrigerator to the right", + "open refrigerator, place bread on top shelf in between the two objects, close refrigerator door, open refrigerator door, pick up bread from top shelf, close refrigerator", + "turn right, go forward to white dining table to the right", + "place loaf of bread on dining table in front of green sponge on the left" + ], + "task_desc": "Place chilled loaf of bread on dining table in front of green sponge to the left", + "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-Bread-None-DiningTable-16/trial_T20190908_114546_641818/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_114546_641818/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..904556a8213a2a9f7c59eda528b5a08d2723e291 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_114546_641818/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a cool bread in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_114546_641818)\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_48_bar__plus_00_dot_81_bar__plus_03_dot_68 - object\n Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 - object\n Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 - object\n Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60 - object\n ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 - object\n ButterKnife_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_03_dot_63 - object\n ButterKnife_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32 - object\n Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22 - object\n Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36 - object\n DishSponge_bar__minus_00_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_54 - object\n DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37 - object\n Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 - object\n 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DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37)\n (cleanable Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11)\n (cleanable Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28)\n (cleanable Spatula_bar__minus_00_dot_87_bar__plus_00_dot_82_bar__plus_00_dot_62)\n (cleanable Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_04_dot_12)\n (cleanable Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32)\n (cleanable Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67)\n \n (heatable Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60)\n (heatable Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35)\n (heatable Mug_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81)\n (heatable Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56)\n (heatable Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (heatable 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Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60)\n (coolable Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55)\n (coolable WineBottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_04_dot_41)\n (coolable Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35)\n (coolable Mug_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81)\n (coolable Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56)\n (coolable Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (coolable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (coolable Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08)\n (coolable Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_26)\n (coolable Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41)\n (coolable Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22)\n (coolable Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60)\n (coolable Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68)\n (coolable WineBottle_bar__plus_02_dot_86_bar__plus_01_dot_03_bar__plus_01_dot_45)\n (coolable Mug_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58)\n (coolable Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84)\n (coolable Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90)\n (coolable Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45)\n (coolable Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36)\n (coolable Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92)\n (coolable Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28)\n (coolable WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_69)\n (coolable Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32)\n (coolable Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67)\n \n \n \n \n \n (sliceable Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60)\n (sliceable Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97)\n (sliceable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (sliceable Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08)\n (sliceable Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41)\n (sliceable Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68)\n (sliceable Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90)\n (sliceable Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45)\n (sliceable Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92)\n \n (inReceptacle Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84)\n (inReceptacle Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle WineBottle_bar__plus_02_dot_86_bar__plus_01_dot_03_bar__plus_01_dot_45 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Mug_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle WineBottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_04_dot_41 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle ButterKnife_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_03_dot_63 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spoon_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spatula_bar__minus_00_dot_87_bar__plus_00_dot_82_bar__plus_00_dot_62 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62)\n (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle DishSponge_bar__minus_00_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__plus_01_dot_61 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_00_dot_32 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Glassbottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84)\n (inReceptacle Knife_bar__plus_02_dot_59_bar__plus_00_dot_83_bar__minus_01_dot_09 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13)\n (inReceptacle Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_61 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70)\n (inReceptacle PepperShaker_bar__minus_01_dot_06_bar__plus_01_dot_78_bar__plus_02_dot_03 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62)\n (inReceptacle WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_69 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62)\n (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36)\n (inReceptacle DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63)\n (inReceptacle PepperShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_17 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37)\n (inReceptacle Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16)\n (inReceptacle Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60)\n (inReceptacle SaltShaker_bar__minus_00_dot_81_bar__plus_01_dot_76_bar__plus_00_dot_31 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59)\n (inReceptacle Glassbottle_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49)\n (inReceptacle SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_64 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49)\n (inReceptacle Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_02 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34)\n (inReceptacle Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60)\n (inReceptacle Mug_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacle Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 loc_bar_8_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 loc_bar_7_bar_0_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 loc_bar_2_bar_9_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30)\n (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37 loc_bar_2_bar_8_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36 loc_bar_0_bar_5_bar_3_bar__minus_30)\n (objectAtLocation Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__plus_01_dot_61 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_61 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation WineBottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_04_dot_41 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Glassbottle_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_79 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_17 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_02_dot_59_bar__plus_00_dot_83_bar__minus_01_dot_09 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (objectAtLocation Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_02 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (objectAtLocation WineBottle_bar__plus_02_dot_86_bar__plus_01_dot_03_bar__plus_01_dot_45 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_64 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_69 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_87_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_00_dot_32 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_81_bar__plus_01_dot_76_bar__plus_00_dot_31 loc_bar_0_bar_1_bar_3_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_06_bar__plus_01_dot_78_bar__plus_02_dot_03 loc_bar_0_bar_7_bar_3_bar__minus_30)\n (objectAtLocation ButterKnife_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_03_dot_63 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_54 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_04_dot_04 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 loc_bar_8_bar__minus_4_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 BreadType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take bread 2 from countertop 2", "go to fridge 1", "cool bread 2 with fridge 1", "go to diningtable 1", "move bread 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_114546_641818/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_114546_641818/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..96c0560da5e5b0759484bdf657d1eacfb0c3afd9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Bread-None-DiningTable-16/trial_T20190908_114546_641818/initial_state.pddl @@ -0,0 +1,1452 @@ + +(define (problem plan_trial_T20190908_114546_641818) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_48_bar__plus_00_dot_81_bar__plus_03_dot_68 - object + Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 - object + Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 - object + 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Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + Glassbottle_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_79 - object + Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_02 - object + Glassbottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_59_bar__plus_00_dot_83_bar__minus_01_dot_09 - object + Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 - object + Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 - object + Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11 - object + Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + 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Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32) + (coolable Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67) + + + + + + (sliceable Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60) + (sliceable Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97) + (sliceable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18) + (sliceable Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08) + (sliceable Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41) + (sliceable Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68) + (sliceable Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90) + (sliceable Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45) + (sliceable Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92) + + (inReceptacle Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Bowl_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_02_dot_86_bar__plus_01_dot_03_bar__plus_01_dot_45 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Mug_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle WineBottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_04_dot_41 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_03_dot_63 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_04_dot_04 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_04_dot_12 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Spatula_bar__minus_00_dot_87_bar__plus_00_dot_82_bar__plus_00_dot_62 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_54 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__plus_01_dot_61 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_00_dot_32 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Glassbottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Knife_bar__plus_02_dot_59_bar__plus_00_dot_83_bar__minus_01_dot_09 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13) + (inReceptacle Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_61 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle PepperShaker_bar__minus_01_dot_06_bar__plus_01_dot_78_bar__plus_02_dot_03 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62) + (inReceptacle WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_69 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62) + (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36) + (inReceptacle DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63) + (inReceptacle PepperShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_17 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37) + (inReceptacle Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16) + (inReceptacle Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60) + (inReceptacle SaltShaker_bar__minus_00_dot_81_bar__plus_01_dot_76_bar__plus_00_dot_31 Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59) + (inReceptacle Glassbottle_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_79 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49) + (inReceptacle SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_64 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49) + (inReceptacle Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_02 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34) + (inReceptacle Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Mug_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_81 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_26 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60) + (receptacleAtLocation 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loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45) + (receptacleAtLocation 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loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_26 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_02_dot_45_bar__plus_00_dot_77_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_37 loc_bar_2_bar_8_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_36 loc_bar_0_bar_5_bar_3_bar__minus_30) + (objectAtLocation Bread_bar__plus_02_dot_50_bar__plus_00_dot_83_bar__plus_03_dot_92 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_10_bar__plus_01_dot_02_bar__plus_01_dot_61 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_61 loc_bar_7_bar__minus_3_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_02_dot_16_bar__plus_01_dot_03_bar__plus_01_dot_35 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation WineBottle_bar__plus_02_dot_11_bar__plus_00_dot_77_bar__plus_04_dot_41 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_02_dot_71_bar__plus_01_dot_05_bar__minus_01_dot_15 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Glassbottle_bar__plus_02_dot_55_bar__plus_00_dot_03_bar__minus_00_dot_79 loc_bar_6_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pan_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_02_dot_51_bar__plus_00_dot_76_bar__plus_03_dot_58 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_17 loc_bar_6_bar__minus_1_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_02_dot_59_bar__plus_00_dot_83_bar__minus_01_dot_09 loc_bar_7_bar__minus_3_bar_1_bar_45) + (objectAtLocation Plate_bar__plus_02_dot_66_bar__plus_00_dot_76_bar__plus_04_dot_28 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_94_bar__plus_02_dot_29_bar__minus_00_dot_22 loc_bar_0_bar_1_bar_3_bar__minus_30) + (objectAtLocation Glassbottle_bar__plus_02_dot_74_bar__plus_00_dot_03_bar__minus_01_dot_02 loc_bar_6_bar__minus_3_bar_1_bar_60) + (objectAtLocation WineBottle_bar__plus_02_dot_86_bar__plus_01_dot_03_bar__plus_01_dot_45 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45) + (objectAtLocation Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__minus_01_dot_13_bar__plus_01_dot_03_bar__plus_01_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Knife_bar__minus_00_dot_65_bar__plus_00_dot_84_bar__plus_01_dot_57 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_64 loc_bar_6_bar__minus_1_bar_1_bar_60) + (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Egg_bar__plus_02_dot_64_bar__plus_00_dot_81_bar__plus_04_dot_08 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_02_dot_10_bar__plus_00_dot_77_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Potato_bar__plus_02_dot_38_bar__plus_00_dot_81_bar__plus_03_dot_45 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Ladle_bar__plus_02_dot_19_bar__plus_01_dot_07_bar__plus_01_dot_11 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Tomato_bar__plus_02_dot_98_bar__plus_00_dot_82_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 loc_bar_7_bar__minus_2_bar_2_bar_60) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0) + (objectAtLocation WineBottle_bar__minus_00_dot_95_bar__plus_01_dot_78_bar__plus_01_dot_69 loc_bar_0_bar_7_bar_3_bar__minus_30) + (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Plate_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Spatula_bar__minus_00_dot_87_bar__plus_00_dot_82_bar__plus_00_dot_62 loc_bar_2_bar_2_bar_3_bar_30) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_79_bar__plus_01_dot_13_bar__plus_00_dot_32 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30) + (objectAtLocation Lettuce_bar__plus_02_dot_80_bar__plus_00_dot_82_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Apple_bar__plus_02_dot_48_bar__plus_00_dot_81_bar__plus_03_dot_68 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_81_bar__plus_01_dot_76_bar__plus_00_dot_31 loc_bar_0_bar_1_bar_3_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_06_bar__plus_01_dot_78_bar__plus_02_dot_03 loc_bar_0_bar_7_bar_3_bar__minus_30) + (objectAtLocation ButterKnife_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_03_dot_63 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_42_bar__plus_01_dot_10_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Cup_bar__plus_02_dot_23_bar__plus_00_dot_76_bar__plus_04_dot_32 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2903910541, + "scene_num": 16 + }, + "task_id": "trial_T20190908_114546_641818", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "ACSS93E03ZUGX_34MAJL3QP742ZJ9AQTB8XSL9YWQ344", + "high_descs": [ + "Turn to the left, go straight, then turn to the left again to face the coffee machine at the end of the counter top.", + "Pick up the bread from off of the counter.", + "Move to the left to face the black refrigerator.", + "Open the refrigerator, place the bread inside, close the refrigerator, wait a few seconds, open the refrigerator, pick up the bread, and close the refrigerator.", + "Turn to the right, walk across the kitchen, then turn to the right and face the white table in the corner.", + "Place the bread on the white table." + ], + "task_desc": "Place the refrigerated bread on top of the white table in the corner of the room.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3DQQ64TANJ2LFAXHYXEY5N71NMTWP9", + "high_descs": [ + "Walk forward, then turn left and walk over to the counter to the left of the ink.", + "Pick up the loaf of bread off of the counter.", + "Turn left and walk towards the door, then turn right to face the fridge.", + "Open the fridge door and put the loaf of bread inside then close the fridge door, after a couple seconds open the fridge back up and remove the load of bread, then close the fridge door.", + "Turn right and walk towards the wall, then hang a right and walk up to the round white table in the corner of the room.", + "Put the chilled loaf of bread on the white table to the right of the closest coffee mug." + ], + "task_desc": "Put a chilled loaf of bread on the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3ZAK8W07I7V5ZP4SMCK78YLWUY2U0X", + "high_descs": [ + "Turn left and walk towards the loaf of bread in front of the coffee maker.", + "Pick up the loaf of bread from the counter.", + "Take a step to the left to face the fridge.", + "Cool the loaf of bread inside the fridge and then take it back out.", + "Turn right, walk past the counter, then turn left to the circle table.", + "Place The loaf of bread to the left of the lettuce on the table." + ], + "task_desc": "Place a cooled loaf of bread from the counter to the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4ae2024c97ab58c53cc68add539e9e833836d4aa --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/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 lettuce and put it in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_014736_101510)\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_26_bar__plus_00_dot_81_bar__plus_03_dot_86 - object\n Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 - object\n Bowl_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_56 - object\n Bowl_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 - object\n Bowl_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_04_dot_50 - object\n Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_04_dot_05 - object\n Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07 - object\n ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 - object\n ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81 - object\n DishSponge_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_46 - object\n Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 - object\n Egg_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 - object\n Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_97 - object\n Glassbottle_bar__plus_02_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_63 - object\n HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object\n HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object\n Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 - object\n Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10 - object\n Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37 - object\n Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__minus_00_dot_24 - object\n Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27 - object\n Lettuce_bar__plus_01_dot_90_bar__plus_00_dot_82_bar__plus_03_dot_74 - object\n Lettuce_bar__plus_02_dot_33_bar__plus_00_dot_82_bar__plus_04_dot_33 - object\n Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 - object\n LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object\n Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 - object\n Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object\n Pan_bar__plus_02_dot_89_bar__plus_00_dot_03_bar__minus_00_dot_74 - object\n Pan_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_37 - object\n PaperTowelRoll_bar__plus_02_dot_62_bar__plus_01_dot_13_bar__minus_01_dot_46 - object\n PepperShaker_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_62 - object\n Plate_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_90 - object\n Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 - object\n Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32 - object\n Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 - object\n Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 - object\n SaltShaker_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_31 - object\n SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_27 - object\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object\n SoapBottle_bar__plus_01_dot_26_bar__plus_01_dot_78_bar__minus_01_dot_95 - object\n Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31 - object\n Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19 - object\n Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48 - object\n Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 - object\n Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52 - object\n Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object\n WineBottle_bar__plus_02_dot_86_bar__plus_00_dot_77_bar__plus_03_dot_57 - object\n WineBottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_07 - object\n WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 - object\n Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle\n Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle\n CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle\n CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle\n DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle\n Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle\n Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle\n Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle\n Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle\n Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle\n Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n loc_bar_2_bar_6_bar_3_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_10_bar_12_bar_0_bar_45 - location\n loc_bar_0_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar_11_bar_3_bar_30 - location\n loc_bar_7_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_0_bar_1_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar__minus_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar_45 - location\n loc_bar_8_bar__minus_1_bar_0_bar_45 - location\n loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar__minus_30 - location\n loc_bar_7_bar_3_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_3_bar_0_bar_45 - location\n loc_bar_0_bar__minus_1_bar_3_bar_60 - location\n loc_bar_6_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar_9_bar_3_bar_30 - location\n loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_2_bar_2_bar_3_bar_30 - location\n loc_bar_2_bar_8_bar_3_bar_60 - location\n loc_bar_8_bar_2_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_30 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_30 - location\n loc_bar_2_bar_4_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_7_bar__minus_3_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_60 - location\n loc_bar_0_bar_9_bar_3_bar_30 - location\n loc_bar_4_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar_1_bar_1_bar_60 - location\n loc_bar_1_bar_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType)\n (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 GarbageCanType)\n (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType)\n (receptacleType CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 CounterTopType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 DrawerType)\n (objectType Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 AppleType)\n (objectType Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 PotatoType)\n (objectType SaltShaker_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_31 SaltShakerType)\n (objectType Bowl_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 BowlType)\n (objectType WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 WineBottleType)\n (objectType DishSponge_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_46 DishSpongeType)\n (objectType Pan_bar__plus_02_dot_89_bar__plus_00_dot_03_bar__minus_00_dot_74 PanType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 ChairType)\n (objectType Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 KnifeType)\n (objectType Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52 TomatoType)\n (objectType Bowl_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_56 BowlType)\n (objectType PepperShaker_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_62 PepperShakerType)\n (objectType Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81 CupType)\n (objectType Pan_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_37 PanType)\n (objectType Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 TomatoType)\n (objectType Bowl_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_04_dot_50 BowlType)\n (objectType SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_27 SaltShakerType)\n (objectType SoapBottle_bar__plus_01_dot_26_bar__plus_01_dot_78_bar__minus_01_dot_95 SoapBottleType)\n (objectType Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__minus_00_dot_24 LadleType)\n (objectType WineBottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_07 WineBottleType)\n (objectType Egg_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 EggType)\n (objectType Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 EggType)\n (objectType Plate_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_90 PlateType)\n (objectType Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 SpoonType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 PanType)\n (objectType Lettuce_bar__plus_01_dot_90_bar__plus_00_dot_82_bar__plus_03_dot_74 LettuceType)\n (objectType Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_97 ForkType)\n (objectType Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_04_dot_05 BreadType)\n (objectType Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 EggType)\n (objectType Lettuce_bar__plus_02_dot_33_bar__plus_00_dot_82_bar__plus_04_dot_33 LettuceType)\n (objectType Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37 KnifeType)\n (objectType ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56 ButterKnifeType)\n (objectType Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32 PotatoType)\n (objectType Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19 SpatulaType)\n (objectType Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 LettuceType)\n (objectType Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 MugType)\n (objectType Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27 LadleType)\n (objectType Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31 SpatulaType)\n (objectType LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 LightSwitchType)\n (objectType Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48 SpoonType)\n (objectType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 SinkType)\n (objectType HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 HousePlantType)\n (objectType Apple_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_86 AppleType)\n (objectType Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 PlateType)\n (objectType Glassbottle_bar__plus_02_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_63 GlassbottleType)\n (objectType PaperTowelRoll_bar__plus_02_dot_62_bar__plus_01_dot_13_bar__minus_01_dot_46 PaperTowelRollType)\n (objectType HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 HousePlantType)\n (objectType Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10 KnifeType)\n (objectType WineBottle_bar__plus_02_dot_86_bar__plus_00_dot_77_bar__plus_03_dot_57 WineBottleType)\n (objectType Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 WindowType)\n (objectType Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07 BreadType)\n (objectType Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 PotType)\n (objectType ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 ButterKnifeType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType 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WineBottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_07 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19)\n (inReceptacle Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84)\n (inReceptacle Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42)\n (inReceptacle SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_27 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13)\n (inReceptacle SaltShaker_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_31 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27)\n (inReceptacle Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27)\n (inReceptacle Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35)\n (inReceptacle Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36)\n (inReceptacle Pan_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_37 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63)\n (inReceptacle Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48)\n (inReceptacle SoapBottle_bar__plus_01_dot_26_bar__plus_01_dot_78_bar__minus_01_dot_95 Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71)\n (inReceptacle Pan_bar__plus_02_dot_89_bar__plus_00_dot_03_bar__minus_00_dot_74 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49)\n (inReceptacle Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacle Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30)\n (receptacleAtLocation 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(receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_27 loc_bar_7_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_86 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_02_dot_33_bar__plus_00_dot_82_bar__plus_04_dot_33 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__minus_00_dot_24 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Egg_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37 loc_bar_2_bar_11_bar_3_bar_30)\n (objectAtLocation Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_04_dot_50 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation WineBottle_bar__plus_02_dot_86_bar__plus_00_dot_77_bar__plus_03_dot_57 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Pan_bar__plus_02_dot_89_bar__plus_00_dot_03_bar__minus_00_dot_74 loc_bar_6_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_37 loc_bar_2_bar_8_bar_3_bar_60)\n (objectAtLocation Glassbottle_bar__plus_02_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_63 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_26_bar__plus_01_dot_78_bar__minus_01_dot_95 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27 loc_bar_6_bar_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_07 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_62_bar__plus_01_dot_13_bar__minus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_90_bar__plus_00_dot_82_bar__plus_03_dot_74 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_31 loc_bar_7_bar_0_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_04_dot_05 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation DishSponge_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Bowl_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48 loc_bar_4_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 loc_bar_0_bar_6_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sinkbasin 1", "take lettuce 3 from sinkbasin 1", "go to fridge 1", "cool lettuce 3 with fridge 1", "go to garbagecan 1", "move lettuce 3 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8214b7b356787cb414ed7be109091220fc8554c3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_014736_101510/initial_state.pddl @@ -0,0 +1,1452 @@ + +(define (problem plan_trial_T20190909_014736_101510) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_26_bar__plus_00_dot_81_bar__plus_03_dot_86 - object + Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 - object + Bowl_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_56 - object + Bowl_bar__plus_02_dot_14_bar__plus_00_dot_76_bar__plus_03_dot_76 - object + Bowl_bar__plus_02_dot_60_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_04_dot_05 - object + Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07 - object + ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81 - object + DishSponge_bar__plus_01_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_46 - object + Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 - object + Egg_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09 - object + Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + Glassbottle_bar__plus_02_dot_01_bar__plus_00_dot_77_bar__plus_03_dot_63 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_48_bar__plus_00_dot_79_bar__plus_03_dot_77 - object + Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10 - object + Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37 - object + Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__minus_00_dot_24 - object + Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27 - object + Lettuce_bar__plus_01_dot_90_bar__plus_00_dot_82_bar__plus_03_dot_74 - object + Lettuce_bar__plus_02_dot_33_bar__plus_00_dot_82_bar__plus_04_dot_33 - object + Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 - object + Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pan_bar__plus_02_dot_89_bar__plus_00_dot_03_bar__minus_00_dot_74 - object + Pan_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_37 - object + PaperTowelRoll_bar__plus_02_dot_62_bar__plus_01_dot_13_bar__minus_01_dot_46 - object + PepperShaker_bar__plus_02_dot_45_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + Plate_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_90 - object + Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69 - object + Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32 - object + Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 - object + Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 - object + SaltShaker_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_31 - object + SaltShaker_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_01_dot_27 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_01_dot_26_bar__plus_01_dot_78_bar__minus_01_dot_95 - object + Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31 - object + Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19 - object + Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48 - object + Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 - object + Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_86_bar__plus_00_dot_77_bar__plus_03_dot_57 - object + WineBottle_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_02_dot_07 - object + WineBottle_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle + Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle + Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + 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loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType 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Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41) + (cleanable Pan_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84) + (cleanable Lettuce_bar__plus_01_dot_90_bar__plus_00_dot_82_bar__plus_03_dot_74) + (cleanable Fork_bar__plus_02_dot_38_bar__plus_00_dot_77_bar__plus_03_dot_97) + (cleanable Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84) + (cleanable Lettuce_bar__plus_02_dot_33_bar__plus_00_dot_82_bar__plus_04_dot_33) + (cleanable Knife_bar__minus_00_dot_80_bar__plus_00_dot_83_bar__plus_02_dot_37) + (cleanable ButterKnife_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_02_dot_56) + (cleanable Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32) + (cleanable Spatula_bar__minus_00_dot_54_bar__plus_01_dot_04_bar__plus_02_dot_19) + (cleanable Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18) + (cleanable Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49) + (cleanable Ladle_bar__plus_02_dot_98_bar__plus_00_dot_07_bar__minus_00_dot_27) + (cleanable Spatula_bar__plus_02_dot_54_bar__plus_00_dot_82_bar__minus_00_dot_31) + (cleanable Spoon_bar__plus_01_dot_93_bar__plus_00_dot_80_bar__plus_01_dot_48) + (cleanable Apple_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_86) + (cleanable Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69) + (cleanable Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10) + (cleanable Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67) + (cleanable ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18) + + (heatable Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52) + (heatable Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07) + (heatable Tomato_bar__minus_01_dot_10_bar__plus_01_dot_08_bar__plus_01_dot_52) + (heatable Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81) + (heatable Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52) + (heatable Egg_bar__plus_02_dot_29_bar__plus_00_dot_81_bar__plus_04_dot_09) + (heatable Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34) + (heatable Plate_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_03_dot_90) + (heatable Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_04_dot_05) + (heatable Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84) + (heatable Potato_bar__minus_00_dot_67_bar__plus_01_dot_07_bar__plus_00_dot_32) + (heatable Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49) + (heatable Apple_bar__plus_02_dot_26_bar__plus_00_dot_81_bar__plus_03_dot_86) + (heatable Plate_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_69) + (heatable Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07) + (coolable Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52) + (coolable 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CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__minus_00_dot_24 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_02_dot_88_bar__plus_01_dot_02_bar__plus_00_dot_10 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_02_dot_75_bar__plus_01_dot_09_bar__plus_00_dot_07 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_02_dot_47_bar__plus_01_dot_03_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) 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Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49) + (inReceptacle Apple_bar__minus_01_dot_01_bar__plus_01_dot_49_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Potato_bar__minus_01_dot_01_bar__plus_01_dot_48_bar__minus_00_dot_07 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Tomato_bar__minus_00_dot_99_bar__plus_00_dot_84_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_84 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Spoon_bar__minus_00_dot_78_bar__plus_00_dot_82_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Lettuce_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_49 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation 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back out and close the door.", + "Turn right and walk past the counter on your left then turn left and walk to the garbage.", + "Put the head of lettuce in the garbage." + ], + "task_desc": "Put a cold head of lettuce in the garbage.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3SFPSMFRSRTB3_3P4RDNWND8XFDTWCABUG8MWJT1GIJQ", + "high_descs": [ + "Turn left to face sink.", + "Pick up lettuce from sink.", + "Turn left, proceed to refrigerator on right. Turn right to face refrigerator.", + "Open refrigerator, place lettuce on shelf to the right of the apple. Wait four seconds, open door, remove lettuce, close door.", + "Turn right, proceed to wall, turn left to face wall. Turn left to face garbage can.", + "Place lettuce in garbage can." + ], + "task_desc": "Move lettuce from sink to refrigerator, chill, and move lettuce to garbage.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3T3IWE1XG9EM8UG0ZDDTJUAEIE3QTN", + "high_descs": [ + "Walk to the sink on the left.", + "Pick up the head of lettuce from inside the sink.", + "Turn left and walk to the black fridge on the right.", + "Put the head of lettuce inside the fridge on the bottom shelf to the right of the tomato, chill it, remove it and close the door.", + "Turn right and walk to the gray bin on the floor to the left next to the counter.", + "Put the chilled head of lettuce inside the gray bin on the floor." + ], + "task_desc": "Place a chilled head of lettuce in a 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-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..509101132e6c9eb92a1474ef6c80dc71f6b6d40b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/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 lettuce in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_042958_594440)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - 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(canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType 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Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_30)\n (sliceable Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_62)\n (sliceable Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34)\n (sliceable Apple_bar__plus_02_dot_58_bar__plus_01_dot_08_bar__plus_00_dot_91)\n (sliceable Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_04_dot_50)\n (sliceable Egg_bar__plus_02_dot_27_bar__plus_00_dot_81_bar__plus_04_dot_29)\n (sliceable Bread_bar__plus_02_dot_96_bar__plus_01_dot_09_bar__minus_00_dot_54)\n (sliceable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_18)\n (sliceable Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_34)\n (sliceable Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_18)\n (sliceable Bread_bar__plus_02_dot_79_bar__plus_00_dot_83_bar__plus_04_dot_41)\n (sliceable Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_14_bar__plus_02_dot_81)\n (sliceable 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CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68)\n (inReceptacle Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_62 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Spatula_bar__plus_02_dot_18_bar__plus_00_dot_78_bar__plus_04_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Cup_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle Glassbottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_45 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98)\n (inReceptacle SaltShaker_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_03_dot_80 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loc_bar_8_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_02_dot_01_bar__plus_00_dot_80_bar__plus_01_dot_49 loc_bar_4_bar_4_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_97_bar__plus_01_dot_48_bar__minus_00_dot_52 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_00_dot_42 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30)\n (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_10_bar__plus_01_dot_03_bar__plus_01_dot_43 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_07 loc_bar_2_bar_6_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_02_dot_18_bar__plus_00_dot_78_bar__plus_04_dot_45 loc_bar_6_bar_15_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_83_bar__plus_00_dot_18_bar__plus_02_dot_75 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_03_dot_80 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_68 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_02_dot_44_bar__plus_01_dot_03_bar__plus_01_dot_90 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Bread_bar__plus_02_dot_79_bar__plus_00_dot_83_bar__plus_04_dot_41 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_88 loc_bar_8_bar__minus_4_bar_2_bar_0)\n (objectAtLocation DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Mug_bar__plus_02_dot_24_bar__plus_00_dot_76_bar__plus_04_dot_48 loc_bar_10_bar_12_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take lettuce 2 from diningtable 1", "go to fridge 1", "cool lettuce 2 with fridge 1", "go to garbagecan 1", "move lettuce 2 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1ae26b5b22fb6593104fa63ffeb6ba1c8516848a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_042958_594440/initial_state.pddl @@ -0,0 +1,1507 @@ + +(define (problem plan_trial_T20190909_042958_594440) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_58_bar__plus_01_dot_08_bar__plus_00_dot_91 - object + Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_34 - object + Bowl_bar__plus_02_dot_48_bar__plus_00_dot_76_bar__plus_04_dot_20 - object + Bread_bar__plus_02_dot_79_bar__plus_00_dot_83_bar__plus_04_dot_41 - object + Bread_bar__plus_02_dot_96_bar__plus_01_dot_09_bar__minus_00_dot_54 - object + ButterKnife_bar__plus_02_dot_44_bar__plus_01_dot_03_bar__plus_01_dot_90 - object + ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__plus_00_dot_12 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_88 - object + Cup_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_97 - object + Cup_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_03_dot_97 - object + DishSponge_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_04_dot_12 - object + DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_82_bar__plus_01_dot_49 - object + Egg_bar__plus_02_dot_27_bar__plus_00_dot_81_bar__plus_04_dot_29 - object + Egg_bar__minus_00_dot_78_bar__plus_00_dot_86_bar__plus_01_dot_57 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_01_dot_79_bar__plus_00_dot_80_bar__plus_01_dot_74 - object + Fork_bar__plus_02_dot_01_bar__plus_00_dot_80_bar__plus_01_dot_49 - object + Glassbottle_bar__plus_02_dot_67_bar__plus_00_dot_77_bar__plus_03_dot_45 - object + Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_10 - object + Glassbottle_bar__minus_01_dot_06_bar__plus_01_dot_44_bar__minus_00_dot_74 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_01_bar__plus_00_dot_79_bar__plus_03_dot_63 - object + Knife_bar__plus_02_dot_28_bar__plus_00_dot_79_bar__plus_03_dot_75 - object + Knife_bar__plus_02_dot_69_bar__plus_00_dot_79_bar__plus_03_dot_99 - object + Ladle_bar__plus_02_dot_62_bar__plus_01_dot_07_bar__plus_00_dot_07 - object + Ladle_bar__plus_02_dot_71_bar__plus_01_dot_07_bar__minus_01_dot_15 - object + Ladle_bar__minus_00_dot_54_bar__plus_01_dot_07_bar__plus_00_dot_42 - object + Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_03_dot_62 - object + Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_04_dot_50 - object + Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_14_bar__plus_02_dot_81 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_01_dot_47_bar__plus_01_dot_02_bar__minus_01_dot_56 - object + Mug_bar__plus_02_dot_24_bar__plus_00_dot_76_bar__plus_04_dot_48 - object + Mug_bar__plus_02_dot_63_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + Pan_bar__plus_02_dot_23_bar__plus_01_dot_03_bar__plus_00_dot_86 - object + PaperTowelRoll_bar__minus_00_dot_83_bar__plus_00_dot_18_bar__plus_02_dot_75 - object + PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_68 - object + PepperShaker_bar__plus_02_dot_05_bar__plus_00_dot_76_bar__plus_04_dot_37 - object + PepperShaker_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_84 - object + Plate_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_07 - object + Plate_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_86 - object + Potato_bar__minus_00_dot_97_bar__plus_01_dot_48_bar__minus_00_dot_52 - object + Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 - object + Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + SaltShaker_bar__plus_02_dot_22_bar__plus_02_dot_28_bar__minus_01_dot_75 - object + SaltShaker_bar__plus_02_dot_38_bar__plus_00_dot_76_bar__plus_03_dot_80 - object + SaltShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_04 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_01_dot_23_bar__plus_01_dot_03_bar__minus_01_dot_99 - object + SoapBottle_bar__plus_02_dot_92_bar__plus_00_dot_76_bar__plus_03_dot_60 - object + SoapBottle_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_54 - object + Spatula_bar__plus_02_dot_18_bar__plus_00_dot_78_bar__plus_04_dot_45 - object + Spoon_bar__plus_01_dot_35_bar__plus_01_dot_03_bar__minus_01_dot_67 - object + Spoon_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_01_dot_04 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34 - object + Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_30 - object + Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_18 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_01_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_46 - object + WineBottle_bar__minus_01_dot_10_bar__plus_01_dot_03_bar__plus_01_dot_43 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle + Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle + Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_6_bar_15_bar_1_bar_45 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar__minus_3_bar__minus_7_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType 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CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_01_dot_03_bar__plus_01_dot_43 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Spoon_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_01_dot_04 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13) + (inReceptacle ButterKnife_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__plus_00_dot_12 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16) + (inReceptacle Fork_bar__plus_02_dot_01_bar__plus_00_dot_80_bar__plus_01_dot_49 Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35) + (inReceptacle Fork_bar__plus_01_dot_79_bar__plus_00_dot_80_bar__plus_01_dot_74 Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67) + (inReceptacle Plate_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_86 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62) + (inReceptacle PepperShaker_bar__plus_01_dot_35_bar__plus_00_dot_03_bar__minus_01_dot_68 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36) + (inReceptacle WineBottle_bar__plus_01_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_46 Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36) + (inReceptacle SaltShaker_bar__plus_02_dot_22_bar__plus_02_dot_28_bar__minus_01_dot_75 Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71) + (inReceptacle Plate_bar__minus_00_dot_54_bar__plus_00_dot_05_bar__plus_02_dot_07 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71) + (inReceptacle SoapBottle_bar__minus_00_dot_98_bar__plus_01_dot_78_bar__plus_01_dot_54 Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60) + (inReceptacle PepperShaker_bar__plus_02_dot_98_bar__plus_00_dot_03_bar__minus_00_dot_84 Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49) + (inReceptacle Pot_bar__plus_01_dot_76_bar__plus_01_dot_03_bar__minus_01_dot_60 StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60) + (inReceptacle Potato_bar__minus_00_dot_97_bar__plus_01_dot_48_bar__minus_00_dot_52 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Tomato_bar__minus_01_dot_01_bar__plus_01_dot_50_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Tomato_bar__minus_01_dot_03_bar__plus_00_dot_84_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Glassbottle_bar__minus_01_dot_06_bar__plus_01_dot_44_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Cup_bar__plus_01_dot_90_bar__plus_01_dot_86_bar__minus_01_dot_88 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83) + (inReceptacle Lettuce_bar__minus_01_dot_00_bar__plus_00_dot_14_bar__plus_02_dot_81 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_83_bar__plus_00_dot_18_bar__plus_02_dot_75 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + (inReceptacle Apple_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Glassbottle_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle 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", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HU9JOPC9UK8Q_3LOZAJ85YG4CXSNZ2COPCFXHF31X2L", + "high_descs": [ + "Step forward, turn left and walk towards the bin on your left, then turn left, and then left again to face the bin.", + "Remove green vegetable from the bin.", + "Step forward, turn right, and walk towards the fridge on your right.", + "Open fridge door and place green vegetable on top shelf, then close door, wait 8 seconds and open door, then remove the green vegetable from fridge and close door.", + "Turn right and walk across the room towards the bin on your left, then turn left to face the bin.", + "Place green vegetable in the bin." + ], + "task_desc": "Place a green vegetable in the bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2BLQ1GVEHJR8T_3PJ71Z61R7TF7BN5GSIXRT1UGUT91U", + "high_descs": [ + "Turn left and go past the end of the counter on your left, then go to the wall on your left and face the wastebasket at the end of the counter.", + "Take the lettuce out of the wastebasket.", + "Go back along the counter to the fridge at the other end.", + "Refrigerate the lettuce, then take it back out.", + "Return to the wastebasket at the other end of the counter. ", + "Put the lettuce back into the wastebasket." + ], + "task_desc": "Discard a dirty, refrigerated head of lettuce.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d18e6e3b387ef9fb532b84c9b059399ec937d3ee --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/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 lettuce in garbagecan.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_043106_665762)\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_30_bar__plus_00_dot_81_bar__plus_03_dot_45 - object\n Bowl_bar__plus_02_dot_22_bar__plus_00_dot_76_bar__plus_03_dot_95 - object\n Bowl_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_18 - object\n Bowl_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_02_dot_56 - object\n Bread_bar__plus_02_dot_53_bar__plus_00_dot_83_bar__plus_04_dot_15 - object\n Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_82 - object\n Bread_bar__minus_00_dot_99_bar__plus_00_dot_85_bar__minus_00_dot_18 - object\n ButterKnife_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 - object\n ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_45 - object\n Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object\n Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_74 - object\n Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 - object\n DishSponge_bar__plus_02_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_09 - object\n Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_81 - object\n Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 - object\n Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object\n Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_65 - object\n Fork_bar__plus_02_dot_89_bar__plus_00_dot_77_bar__plus_04_dot_31 - object\n Glassbottle_bar__plus_02_dot_33_bar__plus_01_dot_03_bar__plus_00_dot_96 - object\n Glassbottle_bar__minus_00_dot_91_bar__plus_00_dot_79_bar__minus_00_dot_41 - object\n HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object\n HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object\n Knife_bar__plus_02_dot_06_bar__plus_00_dot_79_bar__plus_03_dot_58 - object\n Knife_bar__plus_02_dot_28_bar__plus_00_dot_79_bar__plus_04_dot_04 - object\n Knife_bar__plus_02_dot_71_bar__plus_00_dot_83_bar__minus_01_dot_09 - object\n Ladle_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_03_dot_62 - object\n Ladle_bar__plus_02_dot_56_bar__plus_00_dot_07_bar__minus_00_dot_22 - object\n Lettuce_bar__plus_01_dot_53_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object\n Mug_bar__plus_02_dot_62_bar__plus_01_dot_02_bar__minus_01_dot_46 - object\n Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object\n PaperTowelRoll_bar__plus_02_dot_46_bar__plus_00_dot_87_bar__plus_04_dot_40 - object\n PepperShaker_bar__plus_01_dot_90_bar__plus_00_dot_76_bar__plus_03_dot_74 - object\n PepperShaker_bar__plus_02_dot_41_bar__plus_00_dot_76_bar__plus_03_dot_74 - object\n PepperShaker_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 - object\n Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 - object\n Plate_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_12 - object\n Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_77 - object\n Potato_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_41 - object\n Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 - object\n SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_67 - object\n SaltShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_32 - object\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object\n SoapBottle_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 - object\n SoapBottle_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 - object\n SoapBottle_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 - object\n Spatula_bar__plus_01_dot_72_bar__plus_00_dot_82_bar__plus_01_dot_81 - object\n Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_50 - object\n Spoon_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object\n StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object\n Tomato_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 - object\n Tomato_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_49 - object\n Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object\n WineBottle_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_99 - object\n WineBottle_bar__plus_02_dot_68_bar__plus_00_dot_77_bar__plus_04_dot_52 - object\n Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle\n Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle\n Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle\n Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle\n Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle\n Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle\n CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle\n CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle\n CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle\n DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle\n Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle\n Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle\n Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle\n Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle\n Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle\n Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle\n Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle\n Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle\n GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle\n Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle\n Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle\n StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle\n Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle\n loc_bar_2_bar_6_bar_3_bar_60 - location\n loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_10_bar_12_bar_0_bar_45 - location\n loc_bar_0_bar_6_bar_3_bar_45 - location\n loc_bar_2_bar_11_bar_3_bar_30 - location\n loc_bar_7_bar_0_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_0 - location\n loc_bar_8_bar__minus_4_bar_2_bar_0 - location\n loc_bar_0_bar_1_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_0_bar_30 - location\n loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar__minus_30 - location\n loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar__minus_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar_45 - location\n loc_bar_8_bar__minus_1_bar_0_bar_45 - location\n loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar__minus_30 - location\n loc_bar__minus_2_bar_12_bar_2_bar_60 - location\n loc_bar_7_bar_3_bar_0_bar_60 - location\n loc_bar_7_bar__minus_2_bar_2_bar_60 - location\n loc_bar_4_bar_3_bar_0_bar_45 - location\n loc_bar_0_bar__minus_1_bar_3_bar_60 - location\n loc_bar_6_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_2_bar_30 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_2_bar_9_bar_3_bar_30 - location\n loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location\n loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location\n loc_bar_2_bar_2_bar_3_bar_30 - location\n loc_bar_2_bar_8_bar_3_bar_60 - location\n loc_bar_8_bar_2_bar_1_bar_60 - location\n loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location\n loc_bar_0_bar_5_bar_3_bar_45 - location\n loc_bar_0_bar_7_bar_3_bar__minus_30 - location\n loc_bar_3_bar__minus_4_bar_1_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_30 - location\n loc_bar_4_bar_7_bar_1_bar_60 - location\n loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_30 - location\n loc_bar_2_bar_4_bar_3_bar_60 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar_8_bar__minus_4_bar_2_bar_45 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_7_bar__minus_3_bar_1_bar_45 - location\n loc_bar_6_bar_15_bar_0_bar_60 - location\n loc_bar_0_bar_9_bar_3_bar_30 - location\n loc_bar_4_bar_4_bar_1_bar_45 - location\n loc_bar_6_bar_1_bar_1_bar_60 - location\n loc_bar_3_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType)\n (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 GarbageCanType)\n (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType)\n (receptacleType CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 CounterTopType)\n (receptacleType Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType)\n (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 CabinetType)\n (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType)\n (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType)\n (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType)\n (receptacleType CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 CounterTopType)\n (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 DrawerType)\n (objectType SoapBottle_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 SoapBottleType)\n (objectType Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 ChairType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType Knife_bar__plus_02_dot_71_bar__plus_00_dot_83_bar__minus_01_dot_09 KnifeType)\n (objectType Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_77 PotatoType)\n (objectType Tomato_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_49 TomatoType)\n (objectType SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_67 SaltShakerType)\n (objectType Spoon_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 SpoonType)\n (objectType ButterKnife_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 ButterKnifeType)\n (objectType Spatula_bar__plus_01_dot_72_bar__plus_00_dot_82_bar__plus_01_dot_81 SpatulaType)\n (objectType Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_82 BreadType)\n (objectType Fork_bar__plus_02_dot_89_bar__plus_00_dot_77_bar__plus_04_dot_31 ForkType)\n (objectType Lettuce_bar__plus_01_dot_53_bar__plus_01_dot_09_bar__plus_01_dot_61 LettuceType)\n (objectType Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 PanType)\n (objectType Bread_bar__plus_02_dot_53_bar__plus_00_dot_83_bar__plus_04_dot_15 BreadType)\n (objectType Bowl_bar__plus_02_dot_22_bar__plus_00_dot_76_bar__plus_03_dot_95 BowlType)\n (objectType Bowl_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_02_dot_56 BowlType)\n (objectType Bowl_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_18 BowlType)\n (objectType Ladle_bar__plus_02_dot_56_bar__plus_00_dot_07_bar__minus_00_dot_22 LadleType)\n (objectType SaltShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_32 SaltShakerType)\n (objectType PepperShaker_bar__plus_01_dot_90_bar__plus_00_dot_76_bar__plus_03_dot_74 PepperShakerType)\n (objectType Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 PlateType)\n (objectType ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_45 ButterKnifeType)\n (objectType Tomato_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 TomatoType)\n (objectType PepperShaker_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 PepperShakerType)\n (objectType Plate_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_12 PlateType)\n (objectType StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 StoveKnobType)\n (objectType PepperShaker_bar__plus_02_dot_41_bar__plus_00_dot_76_bar__plus_03_dot_74 PepperShakerType)\n (objectType SoapBottle_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 SoapBottleType)\n (objectType SoapBottle_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 SoapBottleType)\n (objectType Glassbottle_bar__minus_00_dot_91_bar__plus_00_dot_79_bar__minus_00_dot_41 GlassbottleType)\n (objectType Ladle_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_03_dot_62 LadleType)\n (objectType PaperTowelRoll_bar__plus_02_dot_46_bar__plus_00_dot_87_bar__plus_04_dot_40 PaperTowelRollType)\n (objectType Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_65 ForkType)\n (objectType LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 LightSwitchType)\n (objectType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 SinkType)\n (objectType Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_74 CupType)\n (objectType Apple_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_45 AppleType)\n (objectType Bread_bar__minus_00_dot_99_bar__plus_00_dot_85_bar__minus_00_dot_18 BreadType)\n (objectType Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_81 EggType)\n (objectType WineBottle_bar__plus_02_dot_68_bar__plus_00_dot_77_bar__plus_04_dot_52 WineBottleType)\n (objectType DishSponge_bar__plus_02_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_09 DishSpongeType)\n (objectType Glassbottle_bar__plus_02_dot_33_bar__plus_01_dot_03_bar__plus_00_dot_96 GlassbottleType)\n (objectType Knife_bar__plus_02_dot_06_bar__plus_00_dot_79_bar__plus_03_dot_58 KnifeType)\n (objectType HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 HousePlantType)\n (objectType WineBottle_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_99 WineBottleType)\n (objectType Mug_bar__plus_02_dot_62_bar__plus_01_dot_02_bar__minus_01_dot_46 MugType)\n (objectType HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 HousePlantType)\n (objectType Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 WindowType)\n (objectType Potato_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_41 PotatoType)\n (objectType Knife_bar__plus_02_dot_28_bar__plus_00_dot_79_bar__plus_04_dot_04 KnifeType)\n (objectType Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 EggType)\n (objectType Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 CupType)\n (objectType Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_50 SpatulaType)\n (objectType Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 PotType)\n (objectType StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 StoveKnobType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType GlassbottleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DiningTableType SaltShakerType)\n (canContain DiningTableType BreadType)\n (canContain DiningTableType DishSpongeType)\n (canContain DiningTableType BowlType)\n (canContain DiningTableType PotType)\n (canContain DiningTableType WineBottleType)\n (canContain DiningTableType MugType)\n (canContain DiningTableType EggType)\n (canContain 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(inReceptacle Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_81 Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83)\n (inReceptacle Potato_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_49 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacle Bowl_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin)\n (inReceptacleObject Spoon_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 Bowl_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_02_dot_56)\n \n \n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60)\n (receptacleAtLocation 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WineBottle_bar__plus_02_dot_68_bar__plus_00_dot_77_bar__plus_04_dot_52 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Plate_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_12 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_72_bar__plus_00_dot_82_bar__plus_01_dot_81 loc_bar_4_bar_3_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_46_bar__plus_00_dot_87_bar__plus_04_dot_40 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 loc_bar_0_bar__minus_6_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_53_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation Apple_bar__plus_02_dot_30_bar__plus_00_dot_81_bar__plus_03_dot_45 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_67 loc_bar_9_bar__minus_2_bar_0_bar_30)\n (objectAtLocation PepperShaker_bar__plus_02_dot_41_bar__plus_00_dot_76_bar__plus_03_dot_74 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation ButterKnife_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_53_bar__plus_00_dot_83_bar__plus_04_dot_15 loc_bar_10_bar_12_bar_0_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_02_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_09 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_02_dot_56 loc_bar_0_bar_9_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 loc_bar_6_bar_15_bar_0_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 loc_bar__minus_2_bar_12_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_62_bar__plus_01_dot_02_bar__minus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take lettuce 1 from countertop 1", "go to fridge 1", "cool lettuce 1 with fridge 1", "go to garbagecan 1", "move lettuce 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e0088e946798f8949e4d0c4942c0337ef608d94a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-16/trial_T20190909_043106_665762/initial_state.pddl @@ -0,0 +1,1440 @@ + +(define (problem plan_trial_T20190909_043106_665762) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_30_bar__plus_00_dot_81_bar__plus_03_dot_45 - object + Bowl_bar__plus_02_dot_22_bar__plus_00_dot_76_bar__plus_03_dot_95 - object + Bowl_bar__minus_00_dot_71_bar__plus_00_dot_81_bar__plus_01_dot_18 - object + Bowl_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + Bread_bar__plus_02_dot_53_bar__plus_00_dot_83_bar__plus_04_dot_15 - object + Bread_bar__plus_02_dot_63_bar__plus_00_dot_83_bar__plus_03_dot_82 - object + Bread_bar__minus_00_dot_99_bar__plus_00_dot_85_bar__minus_00_dot_18 - object + ButterKnife_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_45 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__minus_00_dot_91_bar__plus_00_dot_78_bar__minus_00_dot_74 - object + Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 - object + DishSponge_bar__plus_02_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_09 - object + Egg_bar__plus_02_dot_00_bar__plus_01_dot_90_bar__minus_01_dot_81 - object + Egg_bar__minus_01_dot_03_bar__plus_00_dot_83_bar__minus_00_dot_74 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_65 - object + Fork_bar__plus_02_dot_89_bar__plus_00_dot_77_bar__plus_04_dot_31 - object + Glassbottle_bar__plus_02_dot_33_bar__plus_01_dot_03_bar__plus_00_dot_96 - object + Glassbottle_bar__minus_00_dot_91_bar__plus_00_dot_79_bar__minus_00_dot_41 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__plus_02_dot_06_bar__plus_00_dot_79_bar__plus_03_dot_58 - object + Knife_bar__plus_02_dot_28_bar__plus_00_dot_79_bar__plus_04_dot_04 - object + Knife_bar__plus_02_dot_71_bar__plus_00_dot_83_bar__minus_01_dot_09 - object + Ladle_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_03_dot_62 - object + Ladle_bar__plus_02_dot_56_bar__plus_00_dot_07_bar__minus_00_dot_22 - object + Lettuce_bar__plus_01_dot_53_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_02_dot_62_bar__plus_01_dot_02_bar__minus_01_dot_46 - object + Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + PaperTowelRoll_bar__plus_02_dot_46_bar__plus_00_dot_87_bar__plus_04_dot_40 - object + PepperShaker_bar__plus_01_dot_90_bar__plus_00_dot_76_bar__plus_03_dot_74 - object + PepperShaker_bar__plus_02_dot_41_bar__plus_00_dot_76_bar__plus_03_dot_74 - object + PepperShaker_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 - object + Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 - object + Plate_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_04_dot_12 - object + Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_77 - object + Potato_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_41 - object + Pot_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_67 - object + SaltShaker_bar__plus_01_dot_35_bar__plus_01_dot_02_bar__minus_01_dot_67 - object + SaltShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_32 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_01_dot_17_bar__plus_01_dot_03_bar__minus_01_dot_99 - object + SoapBottle_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 - object + SoapBottle_bar__plus_02_dot_75_bar__plus_01_dot_03_bar__plus_01_dot_35 - object + Spatula_bar__plus_01_dot_72_bar__plus_00_dot_82_bar__plus_01_dot_81 - object + Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_50 - object + Spoon_bar__minus_00_dot_79_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 - object + Tomato_bar__minus_00_dot_71_bar__plus_00_dot_87_bar__plus_01_dot_49 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_99 - object + WineBottle_bar__plus_02_dot_68_bar__plus_00_dot_77_bar__plus_04_dot_52 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 - receptacle + CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 - receptacle + CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 - receptacle + CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 - receptacle + DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 - receptacle + Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 - receptacle + Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 - receptacle + Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 - receptacle + Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 - receptacle + Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_27 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 - receptacle + Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_01_dot_95 - receptacle + Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 - receptacle + Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 - receptacle + GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 - receptacle + Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 - receptacle + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 - receptacle + StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 - receptacle + Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 - receptacle + loc_bar_2_bar_6_bar_3_bar_60 - location + loc_bar_8_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_10_bar_12_bar_0_bar_45 - location + loc_bar_0_bar_6_bar_3_bar_45 - location + loc_bar_2_bar_11_bar_3_bar_30 - location + loc_bar_7_bar_0_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_0 - location + loc_bar_8_bar__minus_4_bar_2_bar_0 - location + loc_bar_0_bar_1_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_0_bar_30 - location + loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar_12_bar_2_bar_60 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location 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(receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Bowl_bar__plus_02_dot_22_bar__plus_00_dot_76_bar__plus_03_dot_95 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_97_bar__plus_01_dot_44_bar__minus_00_dot_30 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_00_dot_99_bar__plus_00_dot_85_bar__minus_00_dot_18 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_73_bar__plus_00_dot_80_bar__plus_00_dot_45 loc_bar_2_bar_2_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__plus_02_dot_53_bar__plus_00_dot_76_bar__plus_03_dot_62 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__plus_03_dot_07_bar__plus_00_dot_03_bar__plus_00_dot_32 loc_bar_6_bar__minus_1_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_02_dot_53_bar__plus_00_dot_78_bar__plus_04_dot_50 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Plate_bar__plus_02_dot_96_bar__plus_01_dot_03_bar__minus_00_dot_85 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation WineBottle_bar__plus_01_dot_29_bar__plus_01_dot_03_bar__minus_01_dot_99 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Tomato_bar__plus_02_dot_92_bar__plus_00_dot_82_bar__plus_03_dot_60 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Ladle_bar__plus_02_dot_23_bar__plus_00_dot_80_bar__plus_03_dot_62 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"y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": -0.98798, + "y": 0.854316056, + "z": -0.184050053 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.968222141, + "y": 1.440705, + "z": -0.295025021 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.29142141, + "y": 0.801508665, + "z": 1.09406209 + }, + "rotation": { + "x": 0.0, + "y": 317.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.21616364, + "y": 0.7629045, + "z": 3.945086 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -0.7949977, + "y": 1.0286293, + "z": 2.55691051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.621801, + "y": 1.02187347, + "z": -1.45686913 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1254785605, + "scene_num": 16 + }, + "task_id": "trial_T20190909_043106_665762", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1HKHM4NVAO98H_33FOTY3KEPCH59U8SCSOTJ22MF01C7", + "high_descs": [ + "turn right and walk forwards to the counter ahead, then turn left and walk forwards to the counter ahead", + "grab the lettuce off of the counter there", + "turn around and walk forwards to the kitchen counter ahead, then turn right and walk over to the fridge at the end of the room", + "place the lettuce inside of the fridge, close the door, let the lettuce cool, then open the door and take the lettuce back out", + "turn right and walk over to the end of the room, but then turn left to face the garbage bin on the left at the end of the counter cabinets", + "place the lettuce inside of the garbage bin" + ], + "task_desc": "place the cooled lettuce inside of the garbage bin", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3NXNZ5RS1DOTIX2758Z6S3S7JG379Z", + "high_descs": [ + "Turn right, move forward, then turn left and go forward to the edge of the counter.", + "Pick up the lettuce from the counter.", + "Turn around to go straight to the counter, then turn right to go to the fridge.", + "Open the fridge, put the lettuce inside and chill it, then take the lettuce out.", + "Turn right and go toward the wall, then turn left to go to the trash bin.", + "Put the lettuce in the trash bin." + ], + "task_desc": "Put cold lettuce in the trash.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3R6P78PK7N2VV5MMWH8HPG6CCQKGT6", + "high_descs": [ + "Move forward to the lettuce on the counter.", + "Pick up the lettuce on the counter. ", + "Turn around, bring the lettuce to the fridge on your right. ", + "Cool the lettuce in the fridge. ", + "Bring the chilled lettuce from the fridge, down to the right, past the sink, then to the trash can on the other side of the counter to the left.", + "Put the chilled lettuce in the trash. " + ], + "task_desc": "Put chilled lettuce in the trash. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..24e33755b7103aa78425ad1898bc04a7e7246498 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/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 lettuce 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_114447_447854)\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_37_bar__plus_00_dot_95_bar__plus_02_dot_26 - object\n Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14 - object\n Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19 - object\n Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 - object\n Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 - object\n ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80 - object\n CellPhone_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_58 - object\n CellPhone_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_43 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 - object\n DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77 - object\n DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 - object\n Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15 - object\n Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 - object\n Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object\n Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_88 - object\n Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object\n Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_14 - object\n Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object\n Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 - object\n Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14 - object\n Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42 - object\n Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 - object\n Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48 - object\n Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00 - object\n Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39 - object\n Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42 - object\n Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68 - object\n Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n 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Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 DrawerType)\n (receptacleType GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 GarbageCanType)\n (receptacleType Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 MicrowaveType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 CabinetType)\n (receptacleType DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 CounterTopType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 CoffeeMachineType)\n (receptacleType Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 CabinetType)\n (receptacleType 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(receptacleType Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 CabinetType)\n (receptacleType DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 DiningTableType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 CabinetType)\n (receptacleType Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 CabinetType)\n (objectType CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_43 CellPhoneType)\n (objectType Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42 PotatoType)\n (objectType Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39 PlateType)\n (objectType Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 PanType)\n (objectType Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09 SpatulaType)\n (objectType Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 PanType)\n (objectType Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 EggType)\n (objectType Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 BowlType)\n (objectType Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 KnifeType)\n (objectType Spatula_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_39 SpatulaType)\n (objectType CellPhone_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 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Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19)\n (pickupable Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65)\n (pickupable SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43)\n (pickupable Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15)\n (pickupable SprayBottle_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (pickupable Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14)\n (pickupable Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02)\n (pickupable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (pickupable WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09)\n (pickupable Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00)\n (pickupable PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48)\n (pickupable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68)\n (pickupable Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14)\n (pickupable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06)\n (pickupable CellPhone_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_58)\n (pickupable SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02)\n (pickupable DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (pickupable Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (pickupable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (pickupable Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67)\n (pickupable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64)\n (pickupable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26)\n (pickupable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (pickupable Spatula_bar__minus_00_dot_92_bar__plus_00_dot_76_bar__plus_02_dot_27)\n (pickupable ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80)\n (pickupable DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77)\n (pickupable Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42)\n (isReceptacleObject Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39)\n (isReceptacleObject Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (isReceptacleObject Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (isReceptacleObject Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20)\n (isReceptacleObject Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09)\n (isReceptacleObject Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (isReceptacleObject Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (isReceptacleObject Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (isReceptacleObject Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19)\n (isReceptacleObject Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (isReceptacleObject Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00)\n (isReceptacleObject Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (openable Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58)\n (openable Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37)\n (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18)\n (openable Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23)\n (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28)\n (openable Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38)\n (openable Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (openable Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65)\n \n (atLocation agent1 loc_bar_3_bar_5_bar_3_bar_30)\n \n (cleanable Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42)\n (cleanable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39)\n (cleanable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (cleanable Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09)\n (cleanable Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (cleanable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26)\n (cleanable Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20)\n (cleanable Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59)\n (cleanable Spatula_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_39)\n (cleanable Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09)\n (cleanable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (cleanable Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48)\n (cleanable Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (cleanable Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_14)\n (cleanable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (cleanable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67)\n (cleanable Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19)\n (cleanable Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65)\n (cleanable Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15)\n (cleanable Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14)\n (cleanable Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02)\n (cleanable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (cleanable Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00)\n (cleanable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68)\n (cleanable Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14)\n (cleanable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06)\n (cleanable DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26)\n (cleanable Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (cleanable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (cleanable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64)\n (cleanable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26)\n (cleanable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (cleanable Spatula_bar__minus_00_dot_92_bar__plus_00_dot_76_bar__plus_02_dot_27)\n (cleanable ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80)\n (cleanable DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77)\n (cleanable Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42)\n \n (heatable Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42)\n (heatable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39)\n (heatable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26)\n (heatable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68)\n (heatable Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09)\n (heatable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (heatable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67)\n (heatable Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00)\n (heatable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68)\n (heatable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06)\n (heatable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64)\n (heatable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26)\n (heatable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (coolable Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42)\n (coolable Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39)\n (coolable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70)\n (coolable Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26)\n (coolable Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20)\n (coolable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68)\n (coolable Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09)\n (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74)\n (coolable Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (coolable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (coolable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67)\n (coolable Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19)\n (coolable Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14)\n (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47)\n (coolable WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09)\n (coolable Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00)\n (coolable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68)\n (coolable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06)\n (coolable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (coolable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64)\n (coolable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26)\n (coolable Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63)\n (coolable Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42)\n \n \n \n \n \n (sliceable Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42)\n (sliceable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26)\n (sliceable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68)\n (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67)\n (sliceable Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14)\n (sliceable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68)\n (sliceable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06)\n (sliceable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64)\n (sliceable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64)\n (sliceable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26)\n (sliceable Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42)\n \n (inReceptacleObject Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14)\n (inReceptacle Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64)\n (inReceptacle Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18)\n (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle CellPhone_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle SprayBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle CellPhone_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Spatula_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 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DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74)\n (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation 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loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 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WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_92_bar__plus_00_dot_76_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 loc_bar_2_bar_0_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take lettuce 3 from diningtable 2", "go to fridge 1", "cool lettuce 3 with fridge 1", "go to garbagecan 1", "move lettuce 3 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..9c705f8f88e9fedb0329a76ebdf8f967a955ab07 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114447_447854/initial_state.pddl @@ -0,0 +1,1285 @@ + +(define (problem plan_trial_T20190907_114447_447854) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_37_bar__plus_00_dot_95_bar__plus_02_dot_26 - object + Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19 - object + Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 - object + Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 - object + ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80 - object + CellPhone_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_58 - object + CellPhone_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77 - object + DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 - object + Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15 - object + Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 - object + Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object + Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_88 - object + Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object + Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_14 - object + Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 - object + Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14 - object + Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42 - object + Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 - object + Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48 - object + Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00 - object + Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39 - object + Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42 - object + Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68 - object + Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + Spatula_bar__minus_00_dot_92_bar__plus_00_dot_76_bar__plus_02_dot_27 - object + Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09 - object + Spatula_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_39 - object + Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65 - object + Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + SprayBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + SprayBottle_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle + Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle + Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle + Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle + CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle + CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle + CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle + DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle + Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle + Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle + Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle + GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle + Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle + StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle + Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle + loc_bar_3_bar_5_bar_1_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar_30 - location + loc_bar_2_bar_0_bar_2_bar_45 - location + loc_bar_3_bar_1_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_0 - location + loc_bar_2_bar_10_bar_1_bar_60 - location + loc_bar_2_bar_1_bar_1_bar_45 - location + loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar__minus_30 - location + loc_bar_3_bar_2_bar_1_bar_60 - location + loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType 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Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42) + + + + + + (sliceable Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42) + (sliceable Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26) + (sliceable Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68) + (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67) + (sliceable Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14) + (sliceable Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68) + (sliceable Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06) + (sliceable Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64) + (sliceable Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64) + (sliceable Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26) + (sliceable Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42) + + (inReceptacleObject Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14) + (inReceptacle Plate_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__minus_00_dot_39 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64) + (inReceptacle Plate_bar__plus_01_dot_32_bar__plus_02_dot_16_bar__plus_01_dot_00 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18) + (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Potato_bar__plus_01_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spoon_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Lettuce_bar__plus_01_dot_13_bar__plus_00_dot_98_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Bowl_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_21_bar__plus_00_dot_93_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle CellPhone_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SprayBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Lettuce_bar__plus_01_dot_44_bar__plus_00_dot_98_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle DishSponge_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Egg_bar__plus_01_dot_03_bar__plus_00_dot_92_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Apple_bar__plus_01_dot_37_bar__plus_00_dot_95_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle ButterKnife_bar__plus_01_dot_28_bar__plus_00_dot_88_bar__plus_02_dot_80 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Fork_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle CellPhone_bar__plus_01_dot_37_bar__plus_00_dot_88_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Bread_bar__plus_01_dot_07_bar__plus_00_dot_94_bar__plus_02_dot_68 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle CellPhone_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Knife_bar__minus_00_dot_97_bar__plus_00_dot_93_bar__minus_00_dot_59 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Spatula_bar__minus_01_dot_21_bar__plus_00_dot_93_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle DishSponge_bar__plus_01_dot_16_bar__plus_00_dot_78_bar__plus_00_dot_77 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_47 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47) + (inReceptacle Cup_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SprayBottle_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Lettuce_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spatula_bar__minus_01_dot_01_bar__plus_00_dot_76_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Tomato_bar__minus_01_dot_38_bar__plus_00_dot_80_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spatula_bar__minus_00_dot_92_bar__plus_00_dot_76_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Mug_bar__plus_01_dot_22_bar__plus_00_dot_94_bar__minus_00_dot_63 CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74) + (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_01_dot_09 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Glassbottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bowl_bar__minus_01_dot_32_bar__plus_00_dot_75_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_15_bar__plus_01_dot_68_bar__plus_00_dot_68 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Bowl_bar__minus_01_dot_26_bar__plus_01_dot_64_bar__plus_01_dot_19 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle Potato_bar__minus_01_dot_33_bar__plus_01_dot_06_bar__minus_00_dot_06 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Spoon_bar__plus_00_dot_10_bar__plus_00_dot_76_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation 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stove on your right.", + "Pick up the head of lettuce that is closer to the front of the counter.", + "Turn around and cross the room to the refrigerator.", + "Put the lettuce on the top shelf of the refrigerator, behind the egg, closing the door, then take the lettuce out again and re-close the door.", + "Turn to face the opposite direction and go to the red wastebasket.", + "Throw the lettuce into the wastebasket." + ], + "task_desc": "Throw a chilled head of lettuce away into a red wastebasket.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3JWH6J9I9VUTOMNTNR5AEKPLDNMBNM", + "high_descs": [ + "Turn left, move forward, then turn left to face the counter with the lettuce.", + "Pick up the lettuce nearest to you from the counter.", + "Go to the fridge behind you.", + "Chill the lettuce in the fridge.", + "Turn right, go forward, then turn right to go to the trash can.", + "Put the lettuce in the trash can." + ], + "task_desc": "Put cold lettuce in the trash.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e2841f49b5989d5ac39378460161c5ec2144bd69 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/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 lettuce 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_114517_865985)\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_08_bar__plus_00_dot_82_bar__minus_00_dot_69 - object\n Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78 - object\n Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88 - object\n ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n CellPhone_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_26 - object\n CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73 - object\n Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 - object\n Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 - object\n DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 - object\n Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 - object\n Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_01_dot_30 - object\n Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58 - object\n Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object\n Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 - object\n Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 - object\n Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 - object\n Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 - object\n Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 - object\n PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 - object\n Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 - object\n Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 - object\n Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 - object\n Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 - object\n SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 - object\n SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_13 - object\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object\n SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 - object\n SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 - object\n Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 - object\n Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object\n Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09 - object\n Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 - object\n Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 - object\n Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 - object\n SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_09_bar__plus_01_dot_54 - object\n SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 - object\n SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 - object\n StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90 - object\n Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object\n WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object\n Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar__minus_1_bar_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType)\n (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType)\n (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType)\n (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType)\n (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 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Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78)\n (coolable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83)\n (coolable Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09)\n (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64)\n (coolable Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46)\n (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88)\n \n \n \n \n \n (sliceable Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48)\n (sliceable Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69)\n (sliceable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69)\n (sliceable Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48)\n (sliceable Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15)\n (sliceable Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90)\n (sliceable Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78)\n (sliceable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83)\n (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88)\n \n (inReceptacle DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38)\n (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28)\n (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28)\n (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18)\n (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43)\n (inReceptacle Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58)\n (inReceptacle Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58 Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (inReceptacle SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle CellPhone_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37)\n (inReceptacle Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17)\n (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08)\n (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_01_dot_30 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_09_bar__plus_01_dot_54 GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47)\n (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n (inReceptacle Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n (inReceptacle Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_09_bar__plus_01_dot_54 loc_bar_1_bar_6_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 loc_bar_0_bar_3_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_01_dot_30 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_13 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73 loc_bar_0_bar_2_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (objectAtLocation Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation CellPhone_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 loc_bar_3_bar_5_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_1_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take lettuce 1 from countertop 2", "go to fridge 1", "cool lettuce 1 with fridge 1", "go to garbagecan 1", "move lettuce 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f00da5c674de2cd94e57477ff8436040fd0c4844 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/initial_state.pddl @@ -0,0 +1,1297 @@ + +(define (problem plan_trial_T20190907_114517_865985) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_08_bar__plus_00_dot_82_bar__minus_00_dot_69 - object + Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78 - object + Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88 - object + ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + CellPhone_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_26 - object + CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73 - object + Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 - object + Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 - object + DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 - object + Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 - object + Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Glassbottle_bar__minus_01_dot_26_bar__plus_00_dot_75_bar__plus_01_dot_30 - object + Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58 - object + Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 - object + Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 - object + Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 - object + Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 - object + Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 - object + PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 - object + Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 - object + Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 - object + Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 - object + Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 - object + SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_13 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 - object + SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 - object + Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 - object + Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 - object + Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09 - object + Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 - object + Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 - object + SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_09_bar__plus_01_dot_54 - object + SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 - object + SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 - object + 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loc_bar__minus_1_bar_2_bar_2_bar_60 - location + loc_bar_3_bar_5_bar_1_bar_60 - location + loc_bar_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar_60 - location + loc_bar_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_45 - location + loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location + loc_bar_0_bar_0_bar_2_bar_45 - location + loc_bar__minus_2_bar_0_bar_2_bar_45 - location + loc_bar__minus_1_bar_4_bar_3_bar_60 - location + loc_bar_0_bar_13_bar_0_bar_30 - location + loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location + loc_bar_1_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_60 - location + loc_bar_2_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location + loc_bar_1_bar_2_bar_1_bar_60 - location + loc_bar_2_bar_0_bar_2_bar_30 - location + loc_bar_3_bar_5_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_60 - location + loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location + loc_bar_0_bar_2_bar_1_bar_45 - location + loc_bar_1_bar_6_bar_1_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar_1_bar_2_bar_2_bar_60 - location + loc_bar_0_bar_0_bar_2_bar_0 - location + loc_bar_0_bar_6_bar_1_bar_45 - location + loc_bar_2_bar_0_bar_1_bar_45 - location + loc_bar__minus_1_bar_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 FridgeType) + (receptacleType CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 CounterTopType) + (receptacleType Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin SinkBasinType) + (receptacleType Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 DrawerType) + (receptacleType StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 CabinetType) + 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Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (openable Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (openable Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + + (atLocation agent1 loc_bar__minus_1_bar_7_bar_3_bar_30) + + (cleanable Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26) + (cleanable Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48) + (cleanable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70) + (cleanable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (cleanable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06) + (cleanable Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69) + (cleanable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (cleanable Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09) + (cleanable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74) + (cleanable Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25) + (cleanable Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48) + (cleanable Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61) + (cleanable Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58) + (cleanable Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15) + (cleanable Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90) + (cleanable Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02) + (cleanable Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14) + (cleanable Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14) + (cleanable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73) + (cleanable Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83) + (cleanable Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48) + (cleanable Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78) + (cleanable Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11) + (cleanable Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90) + (cleanable Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71) + (cleanable Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78) + (cleanable DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08) + (cleanable ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51) + (cleanable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83) + (cleanable Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09) + (cleanable Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42) + (cleanable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64) + (cleanable Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46) + + (heatable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06) + (heatable Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69) + (heatable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (heatable Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25) + (heatable Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48) + (heatable Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15) + (heatable Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90) + (heatable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73) + (heatable Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83) + (heatable Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78) + (heatable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83) + (heatable Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09) + (heatable Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46) + (heatable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88) + (coolable Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48) + (coolable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70) + (coolable WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67) + (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06) + (coolable Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69) + (coolable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25) + (coolable Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48) + (coolable Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15) + (coolable Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90) + (coolable Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73) + (coolable Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83) + (coolable Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78) + (coolable Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78) + (coolable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83) + (coolable Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09) + (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64) + (coolable Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46) + (coolable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88) + + + + + + (sliceable Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48) + (sliceable Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69) + (sliceable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (sliceable Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48) + (sliceable Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15) + (sliceable Tomato_bar__minus_01_dot_29_bar__plus_00_dot_80_bar__plus_01_dot_90) + (sliceable Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78) + (sliceable Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83) + (sliceable Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88) + + (inReceptacle DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_13 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (inReceptacle Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18) + (inReceptacle SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43) + (inReceptacle Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__plus_00_dot_73 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (inReceptacle Kettle_bar__plus_00_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_58 Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Fork_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Knife_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle PepperShaker_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle CellPhone_bar__plus_01_dot_45_bar__plus_00_dot_88_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (inReceptacle Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17) + (inReceptacle PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Lettuce_bar__minus_01_dot_14_bar__plus_00_dot_98_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08) + (inReceptacle Spatula_bar__minus_01_dot_20_bar__plus_00_dot_76_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Glassbottle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Plate_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle 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GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47) + (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (inReceptacle Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + (inReceptacle Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30) + 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loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation 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loc_bar_0_bar_10_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_00_dot_09_bar__plus_01_dot_54 loc_bar_1_bar_6_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_14 loc_bar__minus_2_bar_0_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_01_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation SaltShaker_bar__minus_01_dot_29_bar__plus_01_dot_65_bar__minus_00_dot_01 loc_bar__minus_1_bar_1_bar_3_bar__minus_30) + (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_00_dot_78_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Knife_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Cup_bar__minus_01_dot_12_bar__plus_00_dot_91_bar__minus_00_dot_83 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_05_bar__plus_00_dot_91_bar__minus_00_dot_43 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_18_bar__plus_00_dot_12_bar__plus_00_dot_25 loc_bar_0_bar_3_bar_3_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_36_bar__plus_00_dot_74_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Fork_bar__plus_01_dot_12_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation 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Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_32_bar__plus_01_dot_48_bar__plus_00_dot_88 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation 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Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__minus_01_dot_10_bar__plus_00_dot_34_bar__plus_00_dot_67 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_10_bar__plus_00_dot_77_bar__minus_00_dot_61 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_21_bar__plus_01_dot_64_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_08_bar__plus_00_dot_82_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_01_bar__minus_00_dot_06 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Knife_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_01_dot_32_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_36_bar__plus_00_dot_91_bar__minus_00_dot_39 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_28_bar__plus_00_dot_93_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_66_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation DishSponge_bar__plus_01_dot_30_bar__plus_01_dot_66_bar__plus_00_dot_08 loc_bar_3_bar_2_bar_1_bar__minus_30) + (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_10_bar__plus_00_dot_78_bar__plus_01_dot_11 loc_bar_3_bar_5_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_01_dot_36_bar__plus_02_dot_16_bar__plus_00_dot_64 loc_bar_3_bar_2_bar_1_bar__minus_30) + (objectAtLocation Mug_bar__plus_01_dot_39_bar__plus_02_dot_15_bar__plus_01_dot_09 loc_bar_3_bar_5_bar_1_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o LettuceType) + (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-Lettuce-None-GarbageCan-17/trial_T20190907_114517_865985/traj_data.json 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", + "Pick up the lettuce on the counter. ", + "Bring the lettuce to the fridge on the right. ", + "Chill the lettuce in the microwave. ", + "Take the chilled lettuce from the fridge, turn around, go to the red trash can. ", + "Put the chilled lettuce in the trash can. " + ], + "task_desc": "Put chilled lettuce in the trash can. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3Q5C1WP23PIOLZZVHUGZERCQ0RB51P", + "high_descs": [ + "Go left, and then turn right to go to the microwave.", + "Pick up the lettuce on the counter, to the left of the microwave.", + "Turn right then turn left to face the fridge.", + "Chill the lettuce in the fridge.", + "Turn right, move forward, then turn right to go to the trash can.", + "Put the lettuce in the trash can." + ], + "task_desc": "Put chilled lettuce in the trash can.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..cd43f4f783e87316735bc789045811a18686b8e1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/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 lettuce 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_114546_602779)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 - object\n Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 - object\n Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 - object\n Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99 - object\n ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 - object\n CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 - object\n Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object\n Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78 - object\n Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 - object\n DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 - object\n DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object\n Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 - object\n Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 - object\n Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20 - object\n Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object\n Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 - object\n Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 - object\n Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 - object\n Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 - object\n Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 - object\n LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object\n Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 - object\n Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object\n PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 - object\n PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 - object\n PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 - object\n Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 - object\n Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 - object\n Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 - object\n Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 - object\n Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object\n SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 - object\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object\n SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 - object\n SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 - object\n SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 - object\n Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 - object\n Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 - object\n Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 - object\n Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 - object\n Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 - object\n Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27 - object\n SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 - object\n SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 - object\n StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object\n Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65 - object\n Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object\n WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object\n WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 - object\n Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 - receptacle\n Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 - receptacle\n Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle\n Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 - receptacle\n Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 - receptacle\n Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 - receptacle\n CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 - receptacle\n CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 - receptacle\n CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle\n DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 - receptacle\n DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 - receptacle\n Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 - receptacle\n Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 - receptacle\n Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 - receptacle\n GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 - receptacle\n Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 - receptacle\n Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 - receptacle\n StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 - receptacle\n Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 - receptacle\n loc_bar_3_bar_5_bar_1_bar__minus_30 - location\n loc_bar_0_bar_10_bar_3_bar_30 - location\n loc_bar_2_bar_0_bar_2_bar_45 - location\n loc_bar_3_bar_1_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_0 - location\n loc_bar_2_bar_10_bar_1_bar_60 - location\n loc_bar_2_bar_1_bar_1_bar_45 - location\n loc_bar__minus_1_bar_2_bar_3_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar__minus_30 - location\n loc_bar_3_bar_2_bar_1_bar_60 - location\n loc_bar__minus_1_bar_2_bar_2_bar_60 - location\n loc_bar_3_bar_5_bar_1_bar_60 - location\n loc_bar_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_0_bar_3_bar_3_bar_45 - location\n loc_bar__minus_2_bar_0_bar_3_bar__minus_30 - location\n loc_bar_0_bar_0_bar_2_bar_45 - location\n loc_bar__minus_2_bar_0_bar_2_bar_45 - location\n loc_bar__minus_1_bar_4_bar_3_bar_60 - location\n loc_bar_0_bar_13_bar_0_bar_30 - location\n loc_bar__minus_2_bar_0_bar_2_bar__minus_30 - location\n loc_bar_1_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_60 - location\n loc_bar_2_bar_0_bar_1_bar__minus_30 - location\n loc_bar__minus_1_bar_5_bar_3_bar__minus_30 - location\n loc_bar_1_bar_2_bar_1_bar_60 - location\n loc_bar_2_bar_0_bar_2_bar_30 - location\n loc_bar_3_bar_5_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_60 - location\n loc_bar__minus_1_bar_1_bar_3_bar__minus_30 - location\n loc_bar_0_bar_2_bar_1_bar_45 - location\n loc_bar_1_bar_6_bar_1_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar_1_bar_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_0_bar_2_bar_0 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar_2_bar_0_bar_1_bar_45 - location\n loc_bar_2_bar_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48)\n (coolable Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71)\n (coolable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65)\n (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48)\n (coolable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58)\n (coolable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90)\n (coolable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73)\n (coolable Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14)\n (coolable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99)\n (coolable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01)\n (coolable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26)\n \n \n \n \n \n (sliceable Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46)\n (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09)\n (sliceable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69)\n (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20)\n (sliceable Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48)\n (sliceable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65)\n (sliceable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58)\n (sliceable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73)\n (sliceable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99)\n (sliceable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26)\n \n (inReceptacle SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38)\n (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33)\n (inReceptacle PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58)\n (inReceptacle Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35)\n (inReceptacle PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23)\n (inReceptacle Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07)\n (inReceptacle Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48)\n (inReceptacle Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17)\n (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67)\n (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74)\n (inReceptacle Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46)\n (inReceptacle Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacle Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99)\n (inReceptacleObject Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90)\n (inReceptacle Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05)\n (inReceptacle Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65 Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 loc_bar_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 loc_bar_0_bar_2_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23 loc_bar_0_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18 loc_bar_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_64 loc_bar_2_bar_0_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28 loc_bar__minus_1_bar_1_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar__minus_1_bar_2_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_38 loc_bar__minus_1_bar_5_bar_3_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_31_bar__plus_00_dot_90_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07 loc_bar_2_bar_1_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_37 loc_bar_3_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_73 loc_bar_3_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_08 loc_bar_3_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_02 loc_bar_2_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_21 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 loc_bar__minus_2_bar_0_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 loc_bar_0_bar_2_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 loc_bar_1_bar_2_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 loc_bar_2_bar_1_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60)\n (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30)\n (objectAtLocation Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65 loc_bar_1_bar_0_bar_2_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 loc_bar_3_bar_2_bar_1_bar__minus_30)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0)\n (objectAtLocation WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 loc_bar__minus_2_bar_8_bar_3_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 loc_bar__minus_1_bar_2_bar_2_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45)\n (objectAtLocation SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o LettuceType)\n (receptacleType ?r GarbageCanType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take lettuce 1 from countertop 2", "go to fridge 1", "cool lettuce 1 with fridge 1", "go to garbagecan 1", "move lettuce 1 to garbagecan 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a0d438d192f2f1f3753e0e58045b1d6a913eaeec --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/initial_state.pddl @@ -0,0 +1,1287 @@ + +(define (problem plan_trial_T20190907_114546_602779) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 - object + Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 - object + Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 - object + Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99 - object + ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 - object + CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 - object + Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 - object + Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78 - object + Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 - object + DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 - object + DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 - object + Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 - object + Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 - object + Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20 - object + Faucet_bar__minus_00_dot_03_bar__plus_00_dot_93_bar__minus_00_dot_81 - object + Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 - object + Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 - object + Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 - object + Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 - object + Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 - object + LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 - object + Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 - object + Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 - object + PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 - object + PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 - object + PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 - object + Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 - object + Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 - object + Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 - object + SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 - object + Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 - object + SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 - object + SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 - object + SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 - object + Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 - object + Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 - object + Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 - object + Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 - object + Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 - object + Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27 - object + SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 - object + SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 - object + StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 - object + Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65 - object + Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 - object + WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 - object + WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 - object + Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35 - receptacle + Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_53 - receptacle + Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58 - receptacle + 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Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37) + (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (openable Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05) + (openable Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_28) + (openable Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (openable Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35) + (openable Cabinet_bar__plus_00_dot_59_bar__plus_02_dot_31_bar__minus_00_dot_65) + + (atLocation agent1 loc_bar_2_bar_7_bar_3_bar_30) + + (cleanable Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78) + (cleanable Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64) + (cleanable 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Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27) + (cleanable Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05) + (cleanable Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90) + (cleanable Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26) + (cleanable Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83) + (cleanable Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27) + (cleanable Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48) + (cleanable ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64) + (cleanable Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71) + (cleanable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65) + (cleanable ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02) + (cleanable DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14) + (cleanable Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48) + (cleanable DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62) + (cleanable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58) + (cleanable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90) + (cleanable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73) + (cleanable Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14) + (cleanable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01) + (cleanable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26) + + (heatable Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78) + (heatable Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46) + (heatable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09) + (heatable Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15) + (heatable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (heatable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20) + (heatable Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71) + (heatable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65) + (heatable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48) + (heatable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58) + (heatable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90) + (heatable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73) + (heatable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99) + (heatable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26) + (coolable Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78) + (coolable Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70) + (coolable Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46) + (coolable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09) + (coolable Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15) + (coolable Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (coolable Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74) + (coolable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20) + (coolable Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05) + (coolable WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71) + (coolable WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83) + (coolable Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48) + (coolable Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71) + (coolable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65) + (coolable Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48) + (coolable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58) + (coolable Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90) + (coolable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73) + (coolable Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14) + (coolable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99) + (coolable Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01) + (coolable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26) + + + + + + (sliceable Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46) + (sliceable Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09) + (sliceable Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69) + (sliceable Egg_bar__minus_01_dot_09_bar__plus_00_dot_79_bar__plus_01_dot_20) + (sliceable Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48) + (sliceable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65) + (sliceable Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58) + (sliceable Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73) + (sliceable Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99) + (sliceable Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26) + + (inReceptacle SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_06_bar__plus_00_dot_38) + (inReceptacle Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 Cabinet_bar__minus_01_dot_19_bar__plus_02_dot_06_bar__minus_00_dot_33) + (inReceptacle PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_58) + (inReceptacle Bowl_bar__plus_01_dot_17_bar__plus_00_dot_12_bar__minus_00_dot_01 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_18) + (inReceptacle DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 Cabinet_bar__plus_00_dot_34_bar__plus_00_dot_40_bar__minus_00_dot_35) + (inReceptacle PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 Cabinet_bar__plus_00_dot_99_bar__plus_00_dot_40_bar__plus_01_dot_23) + (inReceptacle Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spatula_bar__plus_01_dot_44_bar__plus_00_dot_93_bar__plus_00_dot_42 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 CounterTop_bar__plus_01_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_07) + (inReceptacle Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle SoapBottle_bar__plus_01_dot_20_bar__plus_00_dot_89_bar__plus_02_dot_37 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 DiningTable_bar__plus_01_dot_19_bar__plus_00_dot_92_bar__plus_02_dot_48) + (inReceptacle Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17) + (inReceptacle SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 CounterTop_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74) + (inReceptacle Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_75_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spoon_bar__minus_01_dot_29_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Fork_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_27 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 DiningTable_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__plus_02_dot_46) + (inReceptacle Cup_bar__minus_01_dot_26_bar__plus_01_dot_42_bar__plus_00_dot_78 Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99) + (inReceptacle 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(receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_00_dot_43 loc_bar_3_bar_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_19_bar__plus_02_dot_31_bar__plus_01_dot_18 loc_bar_3_bar_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_37_bar__plus_00_dot_40_bar__minus_00_dot_35 loc_bar_1_bar_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_57_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__plus_00_dot_37 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_99_bar__plus_00_dot_40_bar__minus_00_dot_34 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_06_bar__minus_00_dot_65 loc_bar__minus_2_bar_0_bar_2_bar__minus_30) + (receptacleAtLocation 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(receptacleAtLocation Drawer_bar__minus_01_dot_12_bar__plus_00_dot_79_bar__minus_00_dot_17 loc_bar__minus_2_bar_0_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_30_bar__plus_00_dot_01_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_30_bar__plus_00_dot_01_bar__plus_01_dot_47 loc_bar_1_bar_6_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_34_bar__plus_00_dot_90_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (receptacleAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62_bar_SinkBasin loc_bar_1_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_50_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_47 loc_bar_2_bar_0_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_00_dot_80_bar__plus_00_dot_93_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__plus_01_dot_36_bar__plus_00_dot_90_bar__plus_01_dot_05 loc_bar_3_bar_5_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_75 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_21_bar__plus_00_dot_78_bar__minus_00_dot_14 loc_bar__minus_2_bar_0_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_01_dot_52_bar__plus_00_dot_91_bar__minus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_20_bar__plus_00_dot_75_bar__plus_03_dot_02 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Potato_bar__plus_00_dot_10_bar__plus_00_dot_80_bar__minus_00_dot_69 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation PepperShaker_bar__plus_01_dot_13_bar__plus_00_dot_11_bar__plus_00_dot_62 loc_bar_0_bar_2_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_45_bar__plus_00_dot_92_bar__plus_02_dot_58 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation Spatula_bar__minus_01_dot_29_bar__plus_00_dot_76_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation WineBottle_bar__plus_01_dot_44_bar__plus_00_dot_91_bar__plus_00_dot_71 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Pot_bar__plus_00_dot_80_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation Fork_bar__plus_01_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_14 loc_bar_2_bar_1_bar_1_bar_45) + (objectAtLocation 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Potato_bar__minus_00_dot_92_bar__plus_00_dot_79_bar__plus_02_dot_46 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Chair_bar__plus_00_dot_98_bar__plus_00_dot_54_bar__plus_02_dot_52 loc_bar_2_bar_10_bar_1_bar_60) + (objectAtLocation Sink_bar__minus_00_dot_01_bar__plus_00_dot_91_bar__minus_00_dot_62 loc_bar_0_bar_0_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_21_bar__plus_00_dot_81_bar__plus_00_dot_99 loc_bar__minus_1_bar_4_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__plus_00_dot_55_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_89_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_43_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__plus_00_dot_78_bar__plus_01_dot_09_bar__minus_00_dot_91 loc_bar_2_bar_0_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__plus_01_dot_45_bar__plus_00_dot_89_bar__plus_02_dot_48 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_81_bar__plus_00_dot_91_bar__minus_00_dot_67 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Kettle_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_81_bar__minus_00_dot_65 loc_bar_1_bar_0_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_38_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation CellPhone_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_00_dot_51 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_44_bar__plus_00_dot_98_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Pot_bar__plus_00_dot_50_bar__plus_00_dot_94_bar__minus_00_dot_74 loc_bar_2_bar_0_bar_2_bar_45) + (objectAtLocation SoapBottle_bar__plus_01_dot_33_bar__plus_01_dot_66_bar__plus_00_dot_08 loc_bar_3_bar_2_bar_1_bar__minus_30) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_64_bar__minus_00_dot_97 loc_bar_0_bar_0_bar_2_bar_0) + (objectAtLocation Window_bar__plus_01_dot_60_bar__plus_01_dot_65_bar__plus_02_dot_49 loc_bar_2_bar_10_bar_1_bar_0) + (objectAtLocation WineBottle_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_83 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Spatula_bar__plus_01_dot_12_bar__plus_00_dot_90_bar__plus_02_dot_69 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_36_bar__plus_01_dot_01_bar__plus_00_dot_05 loc_bar__minus_2_bar_0_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_00_dot_92_bar__plus_00_dot_81_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_12_bar__plus_01_dot_35_bar__plus_03_dot_80 loc_bar_0_bar_13_bar_0_bar_30) + (objectAtLocation Cup_bar__minus_01_dot_33_bar__plus_01_dot_65_bar__minus_00_dot_48 loc_bar__minus_2_bar_0_bar_3_bar__minus_30) + (objectAtLocation Knife_bar__minus_01_dot_11_bar__plus_00_dot_77_bar__plus_01_dot_90 loc_bar__minus_2_bar_8_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_37_bar__plus_00_dot_92_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_92_bar__plus_00_dot_75_bar__plus_01_dot_90 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_09_bar__plus_00_dot_11_bar__plus_01_dot_12 loc_bar_0_bar_6_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_73 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_75_bar__plus_02_dot_64 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation DishSponge_bar__plus_00_dot_21_bar__plus_00_dot_12_bar__minus_00_dot_62 loc_bar__minus_1_bar_2_bar_2_bar_60) + (objectAtLocation Pan_bar__minus_01_dot_33_bar__plus_00_dot_90_bar__minus_00_dot_70 loc_bar__minus_2_bar_0_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_28_bar__plus_00_dot_89_bar__plus_02_dot_26 loc_bar_2_bar_10_bar_1_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_48_bar__plus_00_dot_75_bar__plus_02_dot_09 loc_bar_0_bar_10_bar_3_bar_30) + (objectAtLocation Mug_bar__plus_01_dot_20_bar__plus_00_dot_88_bar__plus_02_dot_15 loc_bar_2_bar_10_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o LettuceType) + (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-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Lettuce-None-GarbageCan-17/trial_T20190907_114546_602779/traj_data.json new 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+ "position": { + "x": 1.52327764, + "y": 0.911064267, + "z": -0.144580841 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_a0065d6c", + "position": { + "x": -1.332, + "y": 0.9, + "z": -0.699 + }, + "rotation": { + "x": 0.0, + "y": 345.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_1d6d1e51", + "position": { + "x": -1.21299314, + "y": 0.777128, + "z": -0.136830747 + }, + "rotation": { + "x": 0.0, + "y": 269.999664, + "z": 0.0 + } + }, + { + "objectName": "SprayBottle_4f8d0eee", + "position": { + "x": -0.813686848, + "y": 0.9115041, + "z": -0.748511732 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_c297f602", + "position": { + "x": 1.20097, + "y": 0.881300032, + "z": 2.15356255 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2817586155, + "scene_num": 17 + }, + "task_id": "trial_T20190907_114546_602779", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_3E7TUJ2EGF31EHHJ0DDBR9I1BHWD97", + "high_descs": [ + "Turn left towards the stove and then turn right towards the microwave.", + "Pick up the lettuce to the left of the microwave.", + "Take a step to the right to face the fridge.", + "Place the fridge to the left of the bread inside the fridge, let it cool, and then take it back out.", + "Turn around and walk towards the red bin.", + "Place the lettuce in the bin." + ], + "task_desc": "Place a cooled lettuce in the red bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1DMXEJGJY02E1_3HPZF4IVNPA6AQJD8TAG6KTAZOOYCW", + "high_descs": [ + "Turn left, then right to go to the microwave.", + "Pick up the lettuce to the left of the microwave.", + "Turn right and go to the fridge.", + "Put the lettuce in the fridge for a few moments, then take it out.", + "Turn around and go to the trash can.", + "Put the lettuce in the trash can." + ], + "task_desc": "Throw away lettuce from the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3QHK8ZVMIPZ30MK8BEPV1SLW8TJBLJ", + "high_descs": [ + "Turn to your left then turn right, walk towards the microwave", + "Pick up the cabbage on the counter beside the microwave", + "Turn to your right and head to the fridge", + "Open the lower door of the fridge and put in the cabbage, then close and open the door, pick the cabbage again", + "Turn around to your right and walk to the trash can", + "Drop the cabbage in the trash can" + ], + "task_desc": "Put the cabbage from the fridge going to the trash can", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_152658_237065/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_152658_237065/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c446d1ce0cf46af835d013f599ccd68bea5bc628 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_152658_237065/initial_state.pddl @@ -0,0 +1,1134 @@ + +(define (problem plan_trial_T20190909_152658_237065) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_45_bar__plus_00_dot_78_bar__plus_01_dot_84 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_40 - object + Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 - object + Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object + ButterKnife_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 - object + ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_02_dot_75_bar__plus_00_dot_77_bar__plus_02_dot_11 - object + DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__plus_02_dot_20 - object + Egg_bar__plus_00_dot_65_bar__plus_00_dot_86_bar__plus_00_dot_90 - object + Egg_bar__plus_00_dot_73_bar__plus_00_dot_86_bar__plus_01_dot_12 - object + Egg_bar__minus_02_dot_58_bar__plus_01_dot_03_bar__plus_02_dot_45 - 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_00_dot_70_bar__plus_00_dot_69_bar__plus_00_dot_94 - object + Fork_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_02_dot_50 - object + Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_00_dot_94 - object + Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_00_dot_94 - object + Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_77 - object + Mug_bar__minus_02_dot_71_bar__plus_01_dot_60_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_65_bar__plus_00_dot_93_bar__plus_02_dot_63 - object + PepperShaker_bar__plus_00_dot_63_bar__plus_00_dot_12_bar__plus_02_dot_12 - object + PepperShaker_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Plate_bar__minus_02_dot_14_bar__plus_01_dot_40_bar__plus_03_dot_90 - object + Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_95 - object + Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_56 - object + Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84 - object + 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_65_bar__plus_00_dot_82_bar__plus_01_dot_12 - object + SaltShaker_bar__minus_02_dot_18_bar__plus_00_dot_12_bar__plus_03_dot_79 - object + SaltShaker_bar__minus_02_dot_66_bar__plus_01_dot_85_bar__plus_01_dot_15 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + Spatula_bar__plus_00_dot_65_bar__plus_00_dot_84_bar__plus_02_dot_11 - object + Spatula_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_03_dot_55 - object + Spoon_bar__minus_02_dot_85_bar__plus_00_dot_82_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_52_bar__plus_01_dot_06_bar__plus_02_dot_17 - 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_12_bar_3_bar_45 - 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 + 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Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_56 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_14 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_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_01_dot_32_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 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 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 Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 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 Spoon_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_70 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle SaltShaker_bar__minus_02_dot_18_bar__plus_00_dot_12_bar__plus_03_dot_79 Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51) + (inReceptacle Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_01_dot_03_bar__plus_02_dot_45 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Mug_bar__minus_02_dot_71_bar__plus_01_dot_60_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__minus_02_dot_45_bar__plus_00_dot_78_bar__plus_01_dot_84 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Tomato_bar__minus_02_dot_52_bar__plus_01_dot_06_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Cup_bar__minus_02_dot_75_bar__plus_00_dot_77_bar__plus_02_dot_11 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Potato_bar__plus_00_dot_93_bar__plus_00_dot_07_bar__plus_02_dot_95 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92) + (inReceptacle Mug_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + (inReceptacleObject Spoon_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_70 Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + + + (receptacleAtLocation 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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 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation 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Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 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 Bowl_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__plus_00_dot_63_bar__plus_00_dot_12_bar__plus_02_dot_12 loc_bar__minus_1_bar_11_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__minus_02_dot_18_bar__plus_00_dot_12_bar__plus_03_dot_79 loc_bar__minus_7_bar_12_bar_0_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 Egg_bar__plus_00_dot_65_bar__plus_00_dot_86_bar__plus_00_dot_90 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation SoapBottle_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_14 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84 loc_bar__minus_6_bar_13_bar_0_bar_30) + (objectAtLocation Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_84_bar__plus_00_dot_69_bar__plus_02_dot_50 loc_bar__minus_1_bar_12_bar_1_bar_45) + (objectAtLocation 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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__plus_00_dot_65_bar__plus_00_dot_84_bar__plus_02_dot_11 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_65_bar__plus_00_dot_93_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45) + (objectAtLocation Potato_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation SoapBottle_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 Egg_bar__plus_00_dot_73_bar__plus_00_dot_86_bar__plus_01_dot_12 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Cup_bar__minus_02_dot_75_bar__plus_00_dot_77_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_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_02_dot_66_bar__plus_01_dot_85_bar__plus_01_dot_15 loc_bar__minus_7_bar_6_bar_3_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_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_55 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 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_52_bar__plus_01_dot_06_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_80_bar__plus_00_dot_82_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45) + (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 Spoon_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_70 loc_bar__minus_7_bar_12_bar_3_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_45_bar__plus_00_dot_78_bar__plus_01_dot_84 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Knife_bar__plus_01_dot_10_bar__plus_00_dot_85_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_71_bar__plus_01_dot_60_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_40 loc_bar__minus_6_bar_9_bar_3_bar__minus_15) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o LettuceType) + (receptacleType ?r CounterTopType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_152658_237065/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_152658_237065/traj_data.json new file mode 100644 index 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1.40254748, + "z": 3.83608723 + }, + "rotation": { + "x": 0.0, + "y": 179.999664, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_9f68a721", + "position": { + "x": -1.31763232, + "y": 0.900055349, + "z": 1.14349663 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_ace268e1", + "position": { + "x": 0.650935531, + "y": 0.8592821, + "z": 0.8951105 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_45eb0ae6", + "position": { + "x": -2.75231647, + "y": 0.766912639, + "z": 2.10965657 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Pot_eb577cac", + "position": { + "x": 0.9133, + "y": 0.850800037, + "z": 1.3754 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_0c71376c", + "position": { + "x": -2.17716479, + "y": 0.123693645, + "z": 3.78902483 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_b017884c", + "position": { + "x": -2.667, + "y": 0.812, + "z": 3.74 + }, + "rotation": { + "x": 0.0, + "y": 137.145508, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_22dad048", + "position": { + "x": 0.626495063, + "y": 0.122371018, + "z": 2.1202693 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_af7bbed3", + "position": { + "x": -2.17291617, + "y": 0.812210739, + "z": 3.55283928 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_facc9b39", + "position": { + "x": -2.5198946, + "y": 1.06406629, + "z": 2.165714 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a0957e87", + "position": { + "x": 0.800560534, + "y": 0.822664261, + "z": 2.19835663 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6dc531a2", + "position": { + "x": -0.5807226, + "y": 0.9566, + "z": 1.3583 + }, + "rotation": { + "x": 31.8225, + "y": 1.20829975e-06, + "z": 4.23861047e-06 + } + }, + { + "objectName": "Spoon_ac730c84", + "position": { + "x": -2.85124445, + "y": 0.82422936, + "z": 3.703151 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_21fad42f", + "position": { + "x": -2.44877958, + "y": 0.7800101, + "z": 1.84058523 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": 1.02499807, + "y": 0.8461806, + "z": 0.9395552 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -1.3622179, + "y": 0.697622, + "z": 3.7747 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -2.63610482, + "y": 1.18917513, + "z": 2.277829 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 701160740, + "scene_num": 24 + }, + "task_id": "trial_T20190909_152658_237065", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_37UEWGM5HWZLBBJRA9IJIE1OMO31RT", + "high_descs": [ + "Walk forward and turn left to face the counter to the right of the stove.", + "Pick up the knife on the counter.", + "Turn around to face the lettuce on the white table.", + "Cut the lettuce on the table into slices.", + "Turn right and walk forward to face the sink.", + "Place the knife in the sink.", + "Turn around and cross the room to face the lettuce on the white table.", + "Pick up a slice of lettuce on the white table.", + "Turn right and walk forward to face the fridge.", + "Cool the lettuce slice in the fridge and remove it.", + "Turn right and walk forward to face the sink.", + "Place the lettuce slice on the edge of the sink." + ], + "task_desc": "To cool a slice of lettuce and place it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3O6CYIULEGS6S4RBBR29GFE2P2ZWUE", + "high_descs": [ + "Turn right and go to the stove.", + "Pick up the knife to the right of the stove against the wall.", + "Turn around to the white table.", + "Cut the lettuce on the table.", + "Turn right and go across the room to sink.", + "Put the knife on the counter in front of the left sink.", + "Go back to the white table.", + "Pick up a slice of lettuce.", + "Go across the room to the fridge.", + "Chill the slice of lettuce in the fridge and then pick it back up.", + "Turn right and go to the sink.", + "Put the slice of lettuce on the counter in front of the left sink." + ], + "task_desc": "Put a chilled slice of lettuce on the counter in front of the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3OF2M9AATJFWJ3R4S0IE9WZM4EDZKK", + "high_descs": [ + "move forward to the gas", + "pick up the knife", + "turn around to the table ", + "slice the lettuce on the table", + "head forward to the sink", + "drop the knife by the sink", + "head right to the table", + "pick up a lettuce head ", + "head forward to the fridge", + "place the lettuce to cool and take it out", + "head right to the sink", + "place the lettuce head by the side of the sink" + ], + "task_desc": "place a cold lettuce head by the 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-LettuceSliced-None-CounterTop-24/trial_T20190909_153127_089685/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_153127_089685/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..bc1bf9aed181caac92838cf321f3bb3498b19c36 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_153127_089685/initial_state.pddl @@ -0,0 +1,1202 @@ + +(define (problem plan_trial_T20190909_153127_089685) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_32_bar__plus_00_dot_96_bar__plus_01_dot_45 - object + Apple_bar__minus_02_dot_58_bar__plus_00_dot_83_bar__plus_02_dot_33 - object + Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_33 - object + Bowl_bar__minus_02_dot_42_bar__plus_01_dot_40_bar__plus_03_dot_90 - object + Bowl_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_94 - object + Bread_bar__plus_00_dot_82_bar__plus_00_dot_87_bar__plus_02_dot_45 - object + Bread_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_33 - object + ButterKnife_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_02_dot_63 - object + ButterKnife_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_77 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Cup_bar__minus_01_dot_31_bar__plus_00_dot_70_bar__plus_03_dot_69 - object + DishSponge_bar__plus_00_dot_78_bar__plus_00_dot_13_bar__plus_02_dot_20 - object + DishSponge_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_01_dot_18 - object + Egg_bar__plus_00_dot_87_bar__plus_00_dot_06_bar__plus_02_dot_89 - object + Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_84 - object + Egg_bar__minus_02_dot_68_bar__plus_01_dot_64_bar__plus_02_dot_45 - 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_00_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_02 - object + Fork_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_14 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_25 - object + Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_04 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56 - 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_98 - object + PepperShaker_bar__minus_02_dot_45_bar__plus_00_dot_15_bar__plus_01_dot_45 - object + Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98 - object + Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_45 - object + Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84 - object + Potato_bar__minus_02_dot_71_bar__plus_01_dot_45_bar__plus_02_dot_17 - object + Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 - object + Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_29 - object + SaltShaker_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_02_dot_46 - object + SaltShaker_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_85 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_01_dot_07 - object + SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + Spatula_bar__plus_00_dot_93_bar__plus_00_dot_82_bar__plus_02_dot_55 - object + Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_94 - object + Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_80 - object + Spoon_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 - object + Spoon_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Spoon_bar__minus_02_dot_14_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__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 - object + Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_56 - object + Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39 - 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 + 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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__minus_2_bar_12_bar_2_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 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Bread_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_33) + (heatable Bread_bar__plus_00_dot_82_bar__plus_00_dot_87_bar__plus_02_dot_45) + (heatable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29) + (heatable Potato_bar__minus_02_dot_71_bar__plus_01_dot_45_bar__plus_02_dot_17) + (heatable Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84) + (heatable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (heatable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_33) + (heatable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56) + (heatable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39) + (heatable Egg_bar__plus_00_dot_87_bar__plus_00_dot_06_bar__plus_02_dot_89) + (heatable Cup_bar__minus_01_dot_31_bar__plus_00_dot_70_bar__plus_03_dot_69) + (heatable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + (coolable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_56) + (coolable Egg_bar__minus_02_dot_68_bar__plus_01_dot_64_bar__plus_02_dot_45) + (coolable Bowl_bar__minus_02_dot_42_bar__plus_01_dot_40_bar__plus_03_dot_90) + (coolable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_45) + (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + (coolable Apple_bar__minus_02_dot_58_bar__plus_00_dot_83_bar__plus_02_dot_33) + (coolable Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_84) + (coolable Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_45) + (coolable Bowl_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_94) + (coolable Bread_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_33) + (coolable Bread_bar__plus_00_dot_82_bar__plus_00_dot_87_bar__plus_02_dot_45) + (coolable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (coolable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29) + (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38) + (coolable Potato_bar__minus_02_dot_71_bar__plus_01_dot_45_bar__plus_02_dot_17) + (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84) + (coolable Cup_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_56) + (coolable Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_bar__plus_02_dot_33) + (coolable Mug_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_56) + (coolable Tomato_bar__minus_02_dot_64_bar__plus_01_dot_48_bar__plus_02_dot_39) + (coolable Egg_bar__plus_00_dot_87_bar__plus_00_dot_06_bar__plus_02_dot_89) + (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77) + (coolable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_04) + (coolable Cup_bar__minus_01_dot_31_bar__plus_00_dot_70_bar__plus_03_dot_69) + (coolable Plate_bar__plus_00_dot_86_bar__plus_00_dot_81_bar__plus_00_dot_98) + + + + + + (sliceable Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_56) + (sliceable Egg_bar__minus_02_dot_68_bar__plus_01_dot_64_bar__plus_02_dot_45) + (sliceable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_45) + (sliceable Apple_bar__minus_02_dot_58_bar__plus_00_dot_83_bar__plus_02_dot_33) + (sliceable Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_84) + (sliceable Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_45) + (sliceable Bread_bar__minus_02_dot_64_bar__plus_01_dot_05_bar__plus_02_dot_33) + (sliceable Bread_bar__plus_00_dot_82_bar__plus_00_dot_87_bar__plus_02_dot_45) + (sliceable Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36) + (sliceable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29) + (sliceable 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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 Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle ButterKnife_bar__plus_01_dot_02_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_01_dot_10_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_93_bar__plus_00_dot_82_bar__plus_02_dot_55 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Bread_bar__plus_00_dot_82_bar__plus_00_dot_87_bar__plus_02_dot_45 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle PepperShaker_bar__minus_02_dot_45_bar__plus_00_dot_15_bar__plus_01_dot_45 Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68) + (inReceptacle Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_02 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98) + (inReceptacle Spoon_bar__plus_00_dot_74_bar__plus_00_dot_69_bar__plus_00_dot_98 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98) + (inReceptacle Spoon_bar__minus_02_dot_14_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 Bowl_bar__minus_02_dot_79_bar__plus_01_dot_40_bar__plus_03_dot_94 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle DishSponge_bar__plus_00_dot_78_bar__plus_00_dot_13_bar__plus_02_dot_20 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36) + (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38) + (inReceptacle Cup_bar__minus_00_dot_92_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 Mug_bar__minus_01_dot_32_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_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Tomato_bar__minus_00_dot_52_bar__plus_00_dot_97_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_00_dot_90_bar__plus_01_dot_35 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_25 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_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Potato_bar__minus_01_dot_19_bar__plus_00_dot_94_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Spoon_bar__minus_01_dot_05_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 Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_14 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 Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_00_dot_94 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 Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_80 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Fork_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle SaltShaker_bar__minus_02_dot_54_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 Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77) + (inReceptacle Potato_bar__minus_01_dot_64_bar__plus_01_dot_40_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Egg_bar__minus_01_dot_75_bar__plus_01_dot_40_bar__plus_03_dot_84 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Apple_bar__minus_02_dot_75_bar__plus_00_dot_83_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_64_bar__plus_01_dot_48_bar__plus_02_dot_39 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Potato_bar__minus_02_dot_71_bar__plus_01_dot_45_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Egg_bar__minus_02_dot_68_bar__plus_01_dot_64_bar__plus_02_dot_45 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__minus_02_dot_58_bar__plus_00_dot_83_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bread_bar__minus_02_dot_64_bar__plus_01_dot_05_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_87_bar__plus_00_dot_06_bar__plus_02_dot_89 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92) + (inReceptacle PaperTowelRoll_bar__plus_00_dot_96_bar__plus_00_dot_13_bar__plus_02_dot_98 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92) + (inReceptacle Cup_bar__minus_01_dot_31_bar__plus_00_dot_70_bar__plus_03_dot_69 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_36_bar__plus_00_dot_70_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin) + (inReceptacleObject Spatula_bar__minus_02_dot_37_bar__plus_00_dot_84_bar__plus_03_dot_80 Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74) + + + (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 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1.42364347 + } + }, + { + "objectName": "Spatula_8e927511", + "position": { + "x": -0.5249086, + "y": 0.9156206, + "z": 0.9374151 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_d2e883cd", + "position": { + "x": 0.960505664, + "y": 0.128533185, + "z": 2.97742772 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_75837e5e", + "position": { + "x": -1.18551159, + "y": 0.9436566, + "z": 1.45261872 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_9f68a721", + "position": { + "x": 0.650935531, + "y": 0.8225346, + "z": 1.07288957 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_ace268e1", + "position": { + "x": 0.8735476, + "y": 0.0604299344, + "z": 2.88902521 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_45eb0ae6", + "position": { + "x": -1.309319, + "y": 0.697119832, + "z": 3.69178 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_eb577cac", + "position": { + "x": 0.6424, + "y": 0.850800037, + "z": 1.7688 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_0c71376c", + "position": { + "x": 1.09981048, + "y": 0.819406152, + "z": 2.4585216 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_b017884c", + "position": { + "x": -2.667, + "y": 0.812, + "z": 3.74 + }, + "rotation": { + "x": 0.0, + "y": 137.145508, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_22dad048", + "position": { + "x": -2.45497274, + "y": 0.1539855, + "z": 1.44629121 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_af7bbed3", + "position": { + "x": 1.02499807, + "y": 0.8231421, + "z": 2.631965 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_facc9b39", + "position": { + "x": 1.02499807, + "y": 0.8916735, + "z": 2.28507829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a0957e87", + "position": { + "x": -2.502532, + "y": 1.84859216, + "z": 1.18116426 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_6dc531a2", + "position": { + "x": -0.5807226, + "y": 0.9566, + "z": 1.3583 + }, + "rotation": { + "x": 31.8225, + "y": 1.20829975e-06, + "z": 4.23861047e-06 + } + }, + { + "objectName": "Spoon_ac730c84", + "position": { + "x": -1.053391, + "y": 0.901750147, + "z": 1.55565929 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_21fad42f", + "position": { + "x": -2.75231624, + "y": 0.8284068, + "z": 2.33388615 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": -0.6570292, + "y": 0.923701346, + "z": 1.14349651 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -1.31763232, + "y": 0.895620763, + "z": 1.55565929 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -2.42481542, + "y": 1.39695573, + "z": 3.89745712 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1697267090, + "scene_num": 24 + }, + "task_id": "trial_T20190909_153127_089685", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_39K0FND3AK6Q8JJZ1KFV7G0HKWVAMP", + "high_descs": [ + "Walk forward and turn right to face the end of the white table.", + "Pick up the knife on the white table.", + "Cut the lettuce on the table into slices.", + "Turn right and walk forward to face the sink.", + "Place the knife on the edge of the sink.", + "Turn around and cross the room the face the end of the white table.", + "Pick up a slice of lettuce on the white table.", + "Step right around the table and walk forward to face the fridge.", + "Cool the lettuce slice in the fridge and remove it.", + "Turn right and step forward to face the sink.", + "Place the lettuce slice on the edge of the sink." + ], + "task_desc": "To cool a slice of lettuce plus place it on the edge of the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3TE22NPXPE3V24ECMF588JXH6WF44G", + "high_descs": [ + "move forward to the table", + "pick up the knife", + "slice the lettuce on the table", + "head right to the side of the sink", + "drop the knife at the side of the sink", + "turn around to the table", + "pick up a slice of lettuce", + "head forward to the fridge, ", + "cool the lettuce and then take it out", + "head right to the sink", + "place the lettuce in the sink" + ], + "task_desc": "place a cold slice of lettuce in the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3Z4AIRP3C9458753J8OB7WNCN7E1XJ", + "high_descs": [ + "Go across the room and turn toward the table.", + "Pick up the knife beside the lettuce on the table.", + "Cut the lettuce on the table.", + "Turn right and go across the room to the sink.", + "Put the knife in front of the sink.", + "Turn around and go back to the table.", + "Pick up a slice of lettuce.", + "Go across the kitchen and to the fridge.", + "Chill the slice of lettuce in the fridge and pick it back up.", + "Turn to the right and go to the sink.", + "Put the slice of lettuce on the counter in front of the sink." + ], + "task_desc": "Put a chilled slice of lettuce on the counter in front 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-LettuceSliced-None-CounterTop-24/trial_T20190909_153425_218344/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_153425_218344/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5771ae53edce660fa5a55303820ed4b02bb18608 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-LettuceSliced-None-CounterTop-24/trial_T20190909_153425_218344/initial_state.pddl @@ -0,0 +1,1174 @@ + +(define (problem plan_trial_T20190909_153425_218344) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_99_bar__plus_00_dot_09_bar__plus_02_dot_92 - object + Apple_bar__minus_00_dot_79_bar__plus_00_dot_96_bar__plus_01_dot_56 - object + Bowl_bar__minus_02_dot_52_bar__plus_00_dot_77_bar__plus_02_dot_33 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_85 - object + Bowl_bar__minus_02_dot_64_bar__plus_00_dot_99_bar__plus_02_dot_17 - object + Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object + ButterKnife_bar__minus_01_dot_46_bar__plus_00_dot_82_bar__plus_03_dot_56 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_00_dot_51_bar__plus_01_dot_24_bar__plus_03_dot_88 - object + Cup_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Cup_bar__minus_02_dot_47_bar__plus_00_dot_72_bar__plus_01_dot_87 - object + DishSponge_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + DishSponge_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_00_dot_94 - object + Egg_bar__minus_01_dot_32_bar__plus_00_dot_94_bar__plus_01_dot_25 - object + Egg_bar__minus_02_dot_69_bar__plus_00_dot_80_bar__plus_02_dot_39 - object + Egg_bar__minus_02_dot_69_bar__plus_01_dot_23_bar__plus_02_dot_22 - 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_00_dot_80_bar__plus_00_dot_82_bar__plus_01_dot_03 - object + Fork_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_02_dot_29 - object + Fork_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_14 - object + Knife_bar__plus_00_dot_65_bar__plus_00_dot_85_bar__plus_00_dot_94 - object + Knife_bar__minus_00_dot_79_bar__plus_00_dot_92_bar__plus_01_dot_25 - object + Lettuce_bar__minus_00_dot_58_bar__plus_00_dot_96_bar__plus_01_dot_36 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__plus_00_dot_78_bar__plus_00_dot_12_bar__plus_02_dot_28 - object + Mug_bar__plus_00_dot_88_bar__plus_00_dot_82_bar__plus_02_dot_20 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + 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CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Cup_bar__minus_00_dot_51_bar__plus_01_dot_24_bar__plus_03_dot_88 Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74) + (inReceptacle Fork_bar__plus_01_dot_10_bar__plus_00_dot_82_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Mug_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 SaltShaker_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (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 Spoon_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_00_dot_98 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98) + 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Fork_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 DishSponge_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 Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_56 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 SoapBottle_bar__minus_01_dot_24_bar__plus_00_dot_13_bar__plus_03_dot_67 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52) + (inReceptacle Spoon_bar__minus_02_dot_85_bar__plus_00_dot_82_bar__plus_03_dot_70 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle 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the end of the table, go forward to the fridge.", + "Chill the lettuce on the shelf between the shelves with the bowls. Take the lettuce from the fridge.", + "Turn right, go forward to the sink.", + "Put the lettuce on the ledge in front of the sink." + ], + "task_desc": "Put a slice of cold lettuce on a ledge in front of a sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3NL0RFNU0IEGG63F77SOF0MD3IDK4U", + "high_descs": [ + "move around to the table ", + "pick up the knife on the table", + "slice the lettuce on the table", + "turn right and head to the sink", + "drop the knife by the side of the sink", + "turn around and head to the table", + "pick up a slice of the lettuce", + "head to the fridge ahead", + "place the lettuce in the fridge to cool and take it out", + "turn right and head to the side of the sink", + "place the lettuce at the side of the sink" + ], + "task_desc": "place a cold lettuce slice at the side of the sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3RUIQRXJBEFNYKSIYZ36GH13E3QLL2", + "high_descs": [ + "Turn around and walk forward and turn right to face the white table.", + "Pick up the knife on the table.", + "Cut the lettuce on the table into slices.", + "Turn right and cross the room to face the sink.", + "Place the knife on the edge of the sink.", + "Turn around and walk forward and turn right to face the white table.", + "Pick up a slice of lettuce on the table.", + "Walk forward to the right of the table to face the fridge.", + "Cool the lettuce slice in the fridge and remove it.", + "Turn right and step forward to face the sink.", + "Place the lettuce slice on the edge of the sink." + ], + "task_desc": "To cool a lettuce slice as well as place it on the edge 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-PotatoSliced-None-Microwave-21/trial_T20190908_064303_598028/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190908_064303_598028/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5b97c6e3032ec1cdd5e0dc002dd7c0ce63a2de14 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190908_064303_598028/initial_state.pddl @@ -0,0 +1,850 @@ + +(define (problem plan_trial_T20190908_064303_598028) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - 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Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 loc_bar__minus_2_bar_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (receptacleAtLocation SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45) + (receptacleAtLocation 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(objectAtLocation ButterKnife_bar__minus_01_dot_72_bar__plus_00_dot_70_bar__minus_01_dot_52 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_22_bar__plus_00_dot_05_bar__minus_03_dot_57 loc_bar__minus_4_bar__minus_13_bar_2_bar_60) + (objectAtLocation Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 loc_bar_1_bar__minus_3_bar_1_bar_0) + (objectAtLocation Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 loc_bar_1_bar__minus_3_bar_1_bar_60) + (objectAtLocation Pot_bar__minus_02_dot_10_bar__plus_00_dot_93_bar__plus_01_dot_05 loc_bar__minus_7_bar_0_bar_0_bar_30) + (objectAtLocation Plate_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_93 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_7_bar_0_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 loc_bar__minus_6_bar_0_bar_0_bar_60) + (objectAtLocation Fork_bar__plus_00_dot_80_bar__plus_00_dot_77_bar__minus_00_dot_85 loc_bar_1_bar__minus_3_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__plus_00_dot_90_bar__plus_00_dot_66_bar__plus_00_dot_39 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_05_bar__plus_00_dot_85_bar__minus_03_dot_71 loc_bar__minus_7_bar__minus_11_bar_2_bar_45) + (objectAtLocation Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 loc_bar__minus_7_bar__minus_10_bar_3_bar_0) + (objectAtLocation Egg_bar__plus_00_dot_86_bar__plus_00_dot_50_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_77_bar__plus_00_dot_77_bar__minus_00_dot_12 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_00_dot_60_bar__plus_00_dot_70_bar__plus_00_dot_45 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_00_dot_62_bar__plus_00_dot_01_bar__minus_00_dot_90 loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_96_bar__plus_00_dot_66_bar__plus_00_dot_51 loc_bar__minus_1_bar_1_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_05 loc_bar__minus_2_bar_1_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_04 loc_bar_1_bar_0_bar_1_bar_45) + (objectAtLocation DishSponge_bar__plus_00_dot_72_bar__plus_00_dot_76_bar__minus_00_dot_06 loc_bar__minus_1_bar__minus_1_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_01_dot_80_bar__plus_00_dot_75_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 loc_bar_2_bar__minus_13_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_75_bar__plus_01_dot_25_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 loc_bar__minus_5_bar__minus_7_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_67_bar__plus_01_dot_21_bar__minus_02_dot_11 loc_bar__minus_1_bar__minus_8_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_02 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_51_bar__plus_00_dot_72_bar__minus_03_dot_53 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + (objectAtLocation Mug_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_00_dot_76 loc_bar_0_bar_1_bar_0_bar_60) + (objectAtLocation Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30) + (objectAtLocation Bowl_bar__minus_02_dot_05_bar__plus_00_dot_70_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (coolable ?o) + (objectType ?o PotatoType) + (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-PotatoSliced-None-Microwave-21/trial_T20190908_064303_598028/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190908_064303_598028/traj_data.json new file mode 100644 index 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+ "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Spoon_93a81026", + "position": { + "x": 0.8176422, + "y": 0.7609973, + "z": -0.252836943 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_33d4fba0", + "position": { + "x": -1.514324, + "y": 0.719655335, + "z": -3.529788 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_288ff1e3", + "position": { + "x": -1.05636275, + "y": 0.895620763, + "z": 0.758174658 + }, + "rotation": { + "x": 0.0, + "y": 270.000336, + "z": 0.0 + } + }, + { + "objectName": "Bowl_737b77b7", + "position": { + "x": -2.05416274, + "y": 0.700223565, + "z": -1.41601658 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2312730802, + "scene_num": 21 + }, + "task_id": "trial_T20190908_064303_598028", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A002160837SWJFPIAI7L7_3HHRAGRYXBMSIE88QMRR23U0FRMO9Q", + "high_descs": [ + "Turn left to the counter beside the sink.", + "Pick up the knife above the salt shaker.", + "Turn left and move left and face the small black counter.", + "Slice the potato on the counter.", + "Turn left and walk to the fridge.", + "Place the knife on the top row of the fridge.", + "Turn left and walk back to the small black counter.", + "Pick up one potato slice.", + "Turn left and walk back to the fridge.", + "Chill the potato slice in the fridge for 3 seconds.", + "Turn around and walk to face the microwave on the left.", + "Place the slice inside of the microwave." + ], + "task_desc": "Place a chilled potato slice inside the microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AT3C00TKZK13L_3K5TEWLKGYSGJZA8VSJIAONBU9XVI7", + "high_descs": [ + "Walk towards the sink", + "Grab a knife from the counter", + "Walk with the knife towards the small black table next to the counter", + "Slice the potato on the table", + "Walk with the knife towards the fridge", + "Put knife inside the fridge", + "Walk towards the small table", + "Grab a slice of potato from the table", + "Walk towards the fridge", + "Put the slice of potato inside the fridge and take it out", + "Walk with the potato slice towards the microwave", + "Put the potato slice inside the microwave" + ], + "task_desc": "Slice a potato, put a slice inside the fridge, put it in the microwave", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3C5W7UE9CI7UJ75UGMISQ2RDRV3MXZ", + "high_descs": [ + "turn left to the counter", + "grab the knife in the back", + "walk to the left a little", + "slice the potato on the shelf", + "turn around, walk to the refrigerator", + "open the refrigerator, put the knife in", + "turn left, walk to the shelf", + "grab a slice of potato", + "turn around, turn left to the refrigerator", + "open the refrigerator, put the potato slice in, wait a while, take the potato out", + "turn around, walk to the microwave,", + "open the microwave,put the potato slice in" + ], + "task_desc": "cool the knife in the refrigerator, slice the potato, put the potato slice in the microwave", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190913_002602_662325/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190913_002602_662325/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b0edabe0052a5afc544c47e28ffb0cc5053d86e7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-PotatoSliced-None-Microwave-21/trial_T20190913_002602_662325/initial_state.pddl @@ -0,0 +1,854 @@ + +(define (problem plan_trial_T20190913_002602_662325) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_66_bar__plus_00_dot_72_bar__plus_00_dot_33 - object + Apple_bar__plus_00_dot_72_bar__plus_00_dot_83_bar__minus_00_dot_85 - object + Blinds_bar__minus_02_dot_34_bar__plus_02_dot_15_bar__minus_02_dot_44 - object + Bowl_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + Bowl_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_39 - object + Bowl_bar__plus_00_dot_86_bar__plus_01_dot_46_bar__plus_00_dot_47 - object + Bread_bar__minus_00_dot_87_bar__plus_00_dot_93_bar__plus_00_dot_98 - object + ButterKnife_bar__plus_00_dot_15_bar__plus_00_dot_90_bar__plus_00_dot_84 - object + ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_25 - object + Chair_bar__minus_01_dot_90_bar__minus_00_dot_03_bar__minus_01_dot_87 - object + Cup_bar__plus_00_dot_67_bar__plus_00_dot_77_bar__minus_00_dot_74 - object + Cup_bar__plus_00_dot_84_bar__plus_00_dot_66_bar__plus_00_dot_63 - object + Cup_bar__minus_01_dot_60_bar__plus_00_dot_70_bar__minus_03_dot_53 - object + DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_76_bar__minus_00_dot_25 - object + Egg_bar__plus_00_dot_79_bar__plus_00_dot_50_bar__minus_01_dot_80 - object + Faucet_bar__plus_01_dot_03_bar__plus_00_dot_87_bar__minus_00_dot_68 - object + Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_98 - object + Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_39 - object + Lettuce_bar__plus_00_dot_71_bar__plus_01_dot_46_bar__minus_01_dot_80 - object + Lettuce_bar__plus_00_dot_75_bar__plus_00_dot_75_bar__minus_01_dot_88 - object + Lettuce_bar__minus_01_dot_26_bar__plus_00_dot_14_bar__minus_03_dot_61 - object + LightSwitch_bar__plus_01_dot_10_bar__plus_01_dot_37_bar__minus_03_dot_74 - object + Mirror_bar__plus_01_dot_09_bar__plus_01_dot_60_bar__minus_00_dot_64 - object + Mug_bar__plus_00_dot_70_bar__plus_00_dot_94_bar__minus_01_dot_36 - object + Mug_bar__minus_01_dot_90_bar__plus_00_dot_79_bar__minus_03_dot_67 - object + Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 - object + PepperShaker_bar__plus_00_dot_95_bar__plus_01_dot_46_bar__minus_00_dot_02 - object + PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_20 - object + Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 - object + Plate_bar__minus_02_dot_05_bar__plus_00_dot_71_bar__minus_01_dot_09 - object + Potato_bar__plus_00_dot_72_bar__plus_00_dot_70_bar__plus_00_dot_57 - object + Potato_bar__minus_02_dot_05_bar__plus_00_dot_83_bar__minus_03_dot_71 - object + Pot_bar__plus_00_dot_75_bar__plus_00_dot_47_bar__minus_02_dot_04 - object + Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 - object + SaltShaker_bar__plus_00_dot_66_bar__plus_00_dot_66_bar__plus_00_dot_63 - object + SaltShaker_bar__plus_00_dot_79_bar__plus_00_dot_01_bar__minus_00_dot_18 - object + SaltShaker_bar__minus_01_dot_58_bar__plus_00_dot_70_bar__minus_03_dot_36 - object + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68 - object + SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_11 - object + Spatula_bar__plus_00_dot_87_bar__plus_00_dot_78_bar__minus_00_dot_25 - object + Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 - object + Spoon_bar__plus_00_dot_67_bar__plus_00_dot_76_bar__minus_00_dot_06 - object + Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 - object + StoveKnob_bar__minus_01_dot_60_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_75_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + StoveKnob_bar__minus_02_dot_06_bar__plus_00_dot_87_bar__plus_00_dot_52 - object + Tomato_bar__plus_01_dot_02_bar__plus_00_dot_93_bar__minus_00_dot_25 - object + Window_bar__minus_02_dot_42_bar__plus_01_dot_64_bar__minus_02_dot_45 - object + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 - receptacle + Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 - receptacle + Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 - receptacle + CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 - receptacle + CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 - receptacle + DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 - receptacle + DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 - receptacle + DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 - receptacle + Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 - receptacle + GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 - receptacle + Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 - receptacle + SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 - receptacle + Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 - receptacle + StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 - receptacle + Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 - receptacle + loc_bar__minus_6_bar_0_bar_0_bar_45 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_1_bar__minus_3_bar_1_bar_0 - location + loc_bar__minus_7_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_45 - location + loc_bar_1_bar_1_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar_0_bar_0_bar_60 - location + loc_bar__minus_6_bar_0_bar_0_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_2_bar_60 - location + loc_bar_1_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_4_bar_3_bar_45 - location + loc_bar__minus_7_bar_0_bar_0_bar_45 - location + loc_bar_0_bar_1_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_1_bar__minus_1_bar_1_bar_45 - location + loc_bar__minus_6_bar_0_bar_0_bar_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar_0 - location + loc_bar_1_bar_0_bar_1_bar_45 - location + loc_bar_2_bar__minus_13_bar_1_bar_30 - location + loc_bar_0_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_1_bar_1_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_2_bar_1_bar_1_bar_45 - location + loc_bar_1_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_2_bar_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_7_bar_3_bar_60 - location + loc_bar_1_bar_0_bar_1_bar__minus_30 - location + loc_bar__minus_7_bar__minus_10_bar_3_bar__minus_30 - location + loc_bar__minus_7_bar__minus_11_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Fridge_bar__plus_00_dot_68_bar__minus_00_dot_03_bar__minus_01_dot_96 FridgeType) + (receptacleType StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_01_dot_26_bar__minus_00_dot_03_bar__minus_03_dot_61 GarbageCanType) + (receptacleType SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45 SideTableType) + (receptacleType Microwave_bar__minus_02_dot_01_bar__plus_00_dot_69_bar__minus_03_dot_69 MicrowaveType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 CabinetType) + (receptacleType CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 CounterTopType) + (receptacleType Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 CabinetType) + (receptacleType Sink_bar__plus_00_dot_75_bar__plus_00_dot_88_bar__minus_00_dot_68_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__plus_00_dot_16 CabinetType) + (receptacleType DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 DiningTableType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_77_bar__minus_00_dot_13 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_52_bar__plus_00_dot_89_bar__plus_01_dot_07 ToasterType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_00_dot_79 StoveBurnerType) + (receptacleType DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 DiningTableType) + (receptacleType StoveBurner_bar__minus_02_dot_10_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 DiningTableType) + (receptacleType StoveBurner_bar__minus_01_dot_56_bar__plus_00_dot_89_bar__plus_01_dot_05 StoveBurnerType) + (objectType Spoon_bar__minus_01_dot_06_bar__plus_00_dot_90_bar__plus_01_dot_10 SpoonType) + (objectType Plate_bar__minus_02_dot_05_bar__plus_00_dot_71_bar__minus_01_dot_09 PlateType) + (objectType StoveKnob_bar__minus_01_dot_90_bar__plus_00_dot_87_bar__plus_00_dot_52 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CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle ButterKnife_bar__plus_00_dot_66_bar__plus_00_dot_88_bar__minus_00_dot_25 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle SoapBottle_bar__plus_00_dot_73_bar__plus_00_dot_88_bar__minus_00_dot_11 CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11) + (inReceptacle Pan_bar__plus_00_dot_74_bar__minus_00_dot_01_bar__minus_00_dot_60 Cabinet_bar__plus_00_dot_51_bar__plus_00_dot_35_bar__minus_00_dot_43) + (inReceptacle Pot_bar__minus_01_dot_55_bar__plus_00_dot_93_bar__plus_00_dot_79 StoveBurner_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__plus_00_dot_79) + (inReceptacle Fork_bar__minus_01_dot_80_bar__plus_00_dot_70_bar__minus_00_dot_98 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_70_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Plate_bar__minus_02_dot_05_bar__plus_00_dot_71_bar__minus_01_dot_09 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Plate_bar__minus_02_dot_02_bar__plus_00_dot_69_bar__minus_01_dot_45 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Spatula_bar__minus_01_dot_89_bar__plus_00_dot_72_bar__minus_01_dot_20 DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96) + (inReceptacle Potato_bar__plus_00_dot_72_bar__plus_00_dot_70_bar__plus_00_dot_57 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Knife_bar__plus_00_dot_96_bar__plus_00_dot_69_bar__plus_00_dot_39 SideTable_bar__plus_00_dot_77_bar__plus_00_dot_70_bar__plus_00_dot_45) + (inReceptacle Apple_bar__plus_00_dot_66_bar__plus_00_dot_72_bar__plus_00_dot_33 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loc_bar__minus_2_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__plus_00_dot_67 loc_bar_1_bar_1_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_72_bar__plus_01_dot_82_bar__minus_00_dot_40 loc_bar_1_bar_0_bar_1_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__minus_01_dot_26 loc_bar_0_bar__minus_5_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_79_bar__plus_00_dot_92_bar__minus_00_dot_11 loc_bar_1_bar_0_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_52_bar__plus_00_dot_01_bar__plus_00_dot_95 loc_bar_0_bar_1_bar_0_bar_60) + (receptacleAtLocation DiningTable_bar__minus_01_dot_73_bar__minus_00_dot_03_bar__minus_00_dot_96 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_17_bar__minus_00_dot_03_bar__minus_03_dot_37 loc_bar__minus_7_bar__minus_11_bar_2_bar_60) + 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the microwave.", + "Turn left, move to the low work table at the end of the counter.", + "Pick up a potato slice from the low work table.", + "Turn left, move to in front of the refrigerator.", + "Put the potato slice in the refrigerator, chill it, pick it back up.", + "Turn right, move to the table, in front of the microwave.", + "Put the potato slice in the microwave." + ], + "task_desc": "Place a chilled potato slice in the microwave.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A255A9FFZD8PQW_3TR2532VISBRZKFDC2WAAXMCQWLJ68", + "high_descs": [ + "Turn around completely and walk to the right. Walk forward to the table and make a right and walk to the side table. ", + "Pick up the knife from the side table. ", + "Slice the potato on the side table. ", + "Take the knife and turn around completely. Walk forward and turn to the left then right and walk to the microwave. ", + "Open the microwave and place the knife inside. ", + "Turn to the right and walk forward then make a left and walk to the table. Make a right and go to the side table. ", + "Pick up a slice of potato from the side table. ", + "Turn around completely and turn left. Walk to the fridge.", + "Open the fridge and place the potato inside.", + " Walk forward and turn to the left then right and walk to the microwave. ", + "Open the microwave and place the slice of potato inside. " + ], + "task_desc": "Slice a potato and place in microwave. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2Q3FS9G8ITCN7_3ZPPDN2SLYD66NVJW8OVXR0MBPRE9N", + "high_descs": [ + "Turn around to the right, walk forward a few steps, turn to the left, and then walk to the table against the wall, make a right and walk forward to the small black table. ", + "Pick up the knife from the back of the table. ", + "Slice the potato on the black table. ", + "Turn right and walk to the microwave. ", + "Open the microwave and place the knife on the plate inside. ", + "Turn to the left and walk back to the black table. ", + "Pick up a sliced end of the potato. ", + "Turn to the left and walk to the refrigerator. ", + "Open the door, place the potato on the shelf, close the door. Open the door, remove the potato, shut the door. ", + "Turn around to the right and walk to the microwave. ", + "Open the door, place the potato inside, behind the plate, close the door. " + ], + "task_desc": "Place a cooled potato slice into 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-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2d16b657a2a7fb2c9d7f4c76a7d29f70a563e72f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/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 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_T20190907_160916_014285)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 - object\n Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 - object\n Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 - object\n 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Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 - object\n Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18 - object\n Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 - object\n Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05 - object\n LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 - object\n Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object\n Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object\n PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 - object\n PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 - object\n PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 - object\n Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21 - object\n Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 - object\n Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20 - object\n Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 - object\n Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 - object\n SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 - object\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 - object\n Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05 - object\n Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 - object\n Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 - object\n Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object\n Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35 - object\n Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object\n Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle\n CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle\n CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle\n DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle\n DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle\n GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle\n Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle\n loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_17_bar_1_bar_60 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_8_bar_14_bar_3_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_30 - location\n loc_bar__minus_10_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_7_bar_1_bar_15 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_45 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_17_bar_1_bar_30 - location\n loc_bar__minus_8_bar_14_bar_3_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_17_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_17_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_6_bar_12_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType)\n (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType)\n (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType)\n (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType)\n (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 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(objectType Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21 PlateType)\n (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType)\n (objectType Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 PlateType)\n (objectType Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 AppleType)\n (objectType SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 SoapBottleType)\n (objectType PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 PepperShakerType)\n (objectType Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 KnifeType)\n (objectType Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 PotatoType)\n (objectType Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 BreadType)\n (objectType ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 ButterKnifeType)\n (objectType 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Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05)\n (coolable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27)\n (coolable Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28)\n \n \n \n \n \n (sliceable Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20)\n (sliceable Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34)\n (sliceable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53)\n (sliceable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50)\n (sliceable Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35)\n (sliceable Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35)\n (sliceable Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20)\n (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54)\n (sliceable Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05)\n \n (inReceptacle SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67)\n (inReceptacle SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacleObject Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21)\n (inReceptacle Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_3_bar_4_bar_2_bar_30)\n (objectAtLocation Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0)\n (objectAtLocation Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_46 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to cabinet 1", "take tomato 1 from garbagecan 1", "go to fridge 1", "cool tomato 1 with fridge 1", "go to diningtable 2", "move tomato 1 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f3f8420f372934dbf6375434759331616d7d16f8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/initial_state.pddl @@ -0,0 +1,924 @@ + +(define (problem plan_trial_T20190907_160916_014285) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 - object + Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 - object + Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 - object + Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 - object + Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50 - object + Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 - object + Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 - object + ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34 - object + ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27 - object + Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_46 - object + DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 - object + Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18 - object + Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 - object + Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 - object + PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 - object + PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 - object + Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 - object + Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20 - object + Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 - object + Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05 - object + Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 - object + Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_30 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_6_bar_12_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (objectType PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 PepperShakerType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_13 ButterKnifeType) + (objectType Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50 BowlType) + (objectType Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 BowlType) + (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 PanType) + 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Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21) + (cleanable Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (cleanable Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20) + (cleanable Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46) + (cleanable Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34) + (cleanable ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21) + (cleanable Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73) + (cleanable Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18) + (cleanable DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_46) + (cleanable ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34) + (cleanable Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05) + (cleanable Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73) + (cleanable Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43) + (cleanable Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93) + (cleanable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50) + (cleanable Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35) + (cleanable Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43) + (cleanable Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27) + (cleanable Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35) + (cleanable Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20) + (cleanable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54) + (cleanable Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53) + (cleanable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (cleanable Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05) + (cleanable DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60) + (cleanable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + (cleanable Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28) + (cleanable Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71) + + (heatable Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21) + (heatable Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (heatable Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20) + (heatable Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34) + (heatable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (heatable Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73) + (heatable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50) + (heatable Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35) + (heatable Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27) + (heatable Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35) + (heatable Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20) + (heatable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54) + (heatable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (heatable Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28) + (coolable Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50) + (coolable Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44) + (coolable Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65) + (coolable Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21) + (coolable Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (coolable Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20) + (coolable Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34) + (coolable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (coolable Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73) + (coolable Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43) + (coolable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50) + (coolable Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35) + (coolable Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27) + (coolable Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35) + (coolable Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20) + (coolable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54) + (coolable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (coolable Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05) + (coolable Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + (coolable Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28) + + + + + + (sliceable Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20) + (sliceable Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34) + (sliceable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (sliceable Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50) + (sliceable Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35) + (sliceable Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35) + (sliceable Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20) + (sliceable Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54) + (sliceable Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05) + + (inReceptacle SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67) + (inReceptacle SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_01_dot_82_bar__plus_00_dot_66_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Knife_bar__minus_01_dot_66_bar__plus_00_dot_69_bar__plus_00_dot_46 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle PepperShaker_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_18 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spatula_bar__minus_02_dot_58_bar__plus_00_dot_92_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Lettuce_bar__minus_02_dot_79_bar__plus_00_dot_98_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle SoapBottle_bar__minus_02_dot_69_bar__plus_00_dot_90_bar__plus_02_dot_44 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spoon_bar__minus_02_dot_38_bar__plus_00_dot_90_bar__plus_02_dot_71 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Cup_bar__minus_00_dot_66_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacleObject Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (inReceptacle Tomato_bar__minus_02_dot_78_bar__plus_00_dot_12_bar__plus_00_dot_35 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Bowl_bar__minus_02_dot_79_bar__plus_00_dot_30_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_02_dot_76_bar__plus_01_dot_24_bar__plus_04_dot_20 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Egg_bar__minus_02_dot_89_bar__plus_01_dot_22_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_14_bar__plus_01_dot_05_bar__plus_00_dot_20 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 loc_bar__minus_7_bar_4_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_69_bar__plus_00_dot_29_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation DishSponge_bar__minus_02_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_01_dot_01_bar__plus_00_dot_80_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation Cup_bar__minus_00_dot_35_bar__plus_01_dot_02_bar__plus_00_dot_27 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation Potato_bar__minus_01_dot_35_bar__plus_00_dot_82_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation Apple_bar__minus_02_dot_89_bar__plus_01_dot_24_bar__plus_04_dot_50 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_25_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_3_bar_4_bar_2_bar_30) + (objectAtLocation 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(objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_01_dot_64_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_66_bar__plus_00_dot_96_bar__plus_03_dot_54 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+ (objectAtLocation Spoon_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_93 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 loc_bar__minus_8_bar_14_bar_3_bar_30) + (objectAtLocation Bowl_bar__minus_03_dot_00_bar__plus_00_dot_90_bar__plus_02_dot_44 loc_bar__minus_8_bar_10_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o TomatoType) + (receptacleType ?r DiningTableType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160916_014285/traj_data.json new file mode 100644 index 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"Spatula_5216d872", + "position": { + "x": -2.58349752, + "y": 0.9156206, + "z": 2.04548788 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + }, + { + "objectName": "Knife_6c866e4b", + "position": { + "x": -1.66258121, + "y": 0.6880228, + "z": 0.464573443 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_bbca86d2", + "position": { + "x": -1.353308, + "y": 0.8238317, + "z": 0.3371001 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 1.40334191e-14 + } + }, + { + "objectName": "Tomato_d8a5b3b1", + "position": { + "x": -2.78197169, + "y": 0.1179923, + "z": 0.352328748 + }, + "rotation": { + "x": 0.0, + "y": 26.1012325, + "z": 0.0 + } + }, + { + "objectName": "Cup_c473c604", + "position": { + "x": -0.3501144, + "y": 1.01825809, + "z": 0.267501146 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_38b3b13a", + "position": { + "x": -0.858018637, + "y": 1.76987314, + "z": 0.2970712 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c5422882", + "position": { + "x": -2.94370174, + "y": 0.9318062, + "z": 3.30242777 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_19505874", + "position": { + "x": -1.00791872, + "y": 0.7959366, + "z": 0.3371 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_57182a42", + "position": { + "x": -2.686537, + "y": 0.900284231, + "z": 2.44184971 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Pan_b3245c00", + "position": { + "x": -0.250185, + "y": 0.926930964, + "z": 4.65182543 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_50b7389e", + "position": { + "x": -2.30385447, + "y": 0.9277706, + "z": 0.6026541 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_c7fbe144", + "position": { + "x": -0.5359, + "y": 0.928928852, + "z": 4.2742 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_11e3f5dc", + "position": { + "x": -0.228984714, + "y": 0.901750147, + "z": 2.73173165 + }, + "rotation": { + "x": 0.0, + "y": 0.000163924531, + "z": 0.0 + } + }, + { + "objectName": "Mug_a7306c85", + "position": { + "x": -2.69151688, + "y": 0.294089973, + "z": 4.278526 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_9504375a", + "position": { + "x": -1.90418983, + "y": 0.9248269, + "z": 0.433551341 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2151539684, + "scene_num": 26 + }, + "task_id": "trial_T20190907_160916_014285", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3PWWM24LHVFEX20TYWNGVUWMUXY823", + "high_descs": [ + "turn left, walk to the corner trash bin", + "take the tomato out of the bin", + "turn around, walk to the refrigerator", + "open the refrigerator, put the tomato in, wait a while, take the tomato out", + "turn left, walk to the white table", + "put the tomato on the table" + ], + "task_desc": "col the tomato from the trash in the refrigerator, put the tomato on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1S1K7134S2VUC_3UJ1CZ6IZK6OFJYPUDVJASZZQ24S5Y", + "high_descs": [ + "Turn left, move to the end of the counter, near the black bin.", + "Pick up the tomato out of the black bin.", + "Turn left, move to in front of the refrigerator.", + "Put the tomato in the refrigerator, chill it, pick it back up.", + "Turn left, move to the table, near the salt.", + "Put the tomato on the table, left of the salt." + ], + "task_desc": "Put the tomato that was in the trash into the refrigerator.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3VA45EW49Q4AT95DM9CYNXCHHWQ1OK", + "high_descs": [ + "Go left and stand in front of the black trash can in the corner of the room.", + "Pick the tomato up out of the trash can.", + "Go left across the room and turn left again to face the fridge.", + "Put the tomato in the fridge and close the door, open the door and take the tomato out and shut the door again.", + "Go left and then face the white table on the right.", + "Put the tomato down on the white table." + ], + "task_desc": "Put a chilled tomato on a table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7c9fe3bde7fc1ed94ee648ad40bc381e5e227aa3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/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 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_T20190907_160948_887016)\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_31_bar__plus_00_dot_96_bar__plus_02_dot_73 - object\n Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33 - object\n Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 - object\n Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 - object\n Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 - object\n Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 - object\n ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 - object\n ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36 - object\n ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 - object\n Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 - object\n Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 - object\n Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35 - object\n DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_52 - object\n Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 - object\n Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57 - object\n Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53 - object\n Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31 - object\n Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57 - object\n LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 - object\n Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 - object\n Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object\n Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_36 - object\n PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_00_dot_43 - object\n PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 - object\n Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 - object\n Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 - object\n Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 - object\n Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 - object\n Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 - object\n SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 - object\n SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 - object\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_02_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_30 - object\n Spatula_bar__minus_00_dot_22_bar__plus_00_dot_68_bar__plus_00_dot_30 - object\n Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 - object\n Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 - object\n Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 - object\n Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object\n Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 - object\n Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 - object\n Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57 - object\n Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object\n Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n 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loc_bar__minus_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_17_bar_1_bar_30 - location\n loc_bar__minus_8_bar_14_bar_3_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_17_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_17_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType 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Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39)\n (inReceptacle SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacleObject SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21)\n (inReceptacleObject Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21)\n (inReceptacle Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0)\n (objectAtLocation Spatula_bar__minus_00_dot_22_bar__plus_00_dot_68_bar__plus_00_dot_30 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 loc_bar__minus_7_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_52 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 loc_bar__minus_7_bar_4_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take tomato 3 from diningtable 2", "go to fridge 1", "cool tomato 3 with fridge 1", "go to diningtable 2", "move tomato 3 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..1bcaa00026a332ad5361d7397877897ea3bb116a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_160948_887016/initial_state.pddl @@ -0,0 +1,946 @@ + +(define (problem plan_trial_T20190907_160948_887016) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73 - object + Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33 - object + Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 - object + Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 - object + Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 - object + Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 - object + ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 - object + ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36 - object + ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 - object + Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 - object + Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 - object + Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35 - object + DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_52 - object + Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57 - object + Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53 - object + Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31 - object + Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 - object + Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 - object + Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 - object + Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_36 - object + PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_00_dot_43 - object + PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 - object + Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 - object + Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 - object + Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 - object + Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 - object + Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 - object + SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 - object + SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_02_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + Spatula_bar__minus_00_dot_22_bar__plus_00_dot_68_bar__plus_00_dot_30 - object + Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 - object + Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 - object + Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 - object + Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 - object + Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 - object + Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_5_bar_10_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (objectType SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 SaltShakerType) + (objectType Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 TomatoType) + (objectType Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 MugType) + (objectType Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 BowlType) + (objectType Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 MugType) + (objectType Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 SpatulaType) + (objectType Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 TomatoType) + (objectType Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 PanType) + (objectType Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 PotatoType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 SpoonType) + (objectType Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 EggType) + (objectType SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 SaltShakerType) + (objectType Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 PotType) + (objectType Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 PotatoType) + (objectType Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 SpoonType) + (objectType Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 PotatoType) + (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType) + (objectType Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 PlateType) + (objectType Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 AppleType) + (objectType PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 PepperShakerType) + (objectType Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 BreadType) + (objectType Spatula_bar__minus_00_dot_22_bar__plus_00_dot_68_bar__plus_00_dot_30 SpatulaType) + (objectType 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ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21) + (cleanable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31) + (cleanable Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53) + (cleanable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33) + (cleanable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57) + (cleanable Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25) + (cleanable Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43) + (cleanable ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60) + (cleanable ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36) + (cleanable Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57) + (cleanable Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35) + (cleanable Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57) + (cleanable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (cleanable DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_52) + (cleanable Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31) + (cleanable Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40) + (cleanable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73) + + (heatable Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53) + (heatable Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39) + (heatable Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14) + (heatable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73) + (heatable Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43) + (heatable Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33) + (heatable Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27) + (heatable Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58) + (heatable Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (heatable Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28) + (heatable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (heatable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31) + (heatable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33) + (heatable Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25) + (heatable Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35) + (heatable Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57) + (heatable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (heatable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73) + (coolable Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53) + (coolable Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39) + (coolable Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91) + (coolable Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14) + (coolable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73) + (coolable Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27) + (coolable Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43) + (coolable Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33) + (coolable Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05) + (coolable Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27) + (coolable Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58) + (coolable Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (coolable Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28) + (coolable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (coolable Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31) + (coolable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33) + (coolable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57) + (coolable Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25) + (coolable Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43) + (coolable Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35) + (coolable Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57) + (coolable Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71) + (coolable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73) + + + + + + (sliceable Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53) + (sliceable Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73) + (sliceable Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43) + (sliceable Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33) + (sliceable Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27) + (sliceable Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58) + (sliceable Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28) + (sliceable Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53) + (sliceable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33) + (sliceable Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57) + (sliceable Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57) + (sliceable Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73) + + (inReceptacle PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_36 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle DishSponge_bar__minus_00_dot_33_bar__plus_00_dot_66_bar__plus_00_dot_52 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Spatula_bar__minus_00_dot_22_bar__plus_00_dot_68_bar__plus_00_dot_30 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SoapBottle_bar__minus_02_dot_30_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle Cup_bar__minus_01_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle SaltShaker_bar__minus_02_dot_04_bar__plus_00_dot_92_bar__plus_00_dot_52 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Potato_bar__minus_02_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle PepperShaker_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Pan_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Cup_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Fork_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Bowl_bar__minus_02_dot_79_bar__plus_00_dot_90_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Tomato_bar__minus_03_dot_00_bar__plus_00_dot_96_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Lettuce_bar__minus_02_dot_58_bar__plus_00_dot_98_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Knife_bar__minus_02_dot_79_bar__plus_00_dot_93_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Pot_bar__minus_02_dot_48_bar__plus_00_dot_89_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spoon_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_23_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Knife_bar__minus_00_dot_40_bar__plus_00_dot_93_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Egg_bar__minus_00_dot_57_bar__plus_00_dot_93_bar__plus_03_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Bread_bar__minus_00_dot_49_bar__plus_00_dot_96_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Apple_bar__minus_00_dot_31_bar__plus_00_dot_96_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle ButterKnife_bar__minus_02_dot_86_bar__plus_00_dot_94_bar__plus_03_dot_21 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Spoon_bar__minus_02_dot_71_bar__plus_00_dot_94_bar__plus_03_dot_40 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle PepperShaker_bar__minus_02_dot_94_bar__plus_00_dot_93_bar__plus_03_dot_30 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle ButterKnife_bar__minus_02_dot_27_bar__plus_00_dot_66_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacleObject SaltShaker_bar__minus_01_dot_72_bar__plus_00_dot_66_bar__plus_00_dot_25 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (inReceptacleObject Bowl_bar__minus_01_dot_90_bar__plus_00_dot_92_bar__plus_00_dot_43 Plate_bar__minus_01_dot_75_bar__plus_01_dot_78_bar__plus_00_dot_21) + (inReceptacle Apple_bar__minus_02_dot_82_bar__plus_00_dot_11_bar__plus_00_dot_28 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Potato_bar__minus_02_dot_76_bar__plus_01_dot_21_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Cup_bar__minus_02_dot_74_bar__plus_00_dot_30_bar__plus_04_dot_35 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_01_dot_01_bar__plus_00_dot_79_bar__plus_00_dot_39 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Spatula_bar__minus_01_dot_27_bar__plus_00_dot_81_bar__plus_00_dot_45 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_01_dot_05_bar__plus_00_dot_27 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Mug_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_14 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Mug_bar__minus_02_dot_78_bar__plus_01_dot_00_bar__plus_03_dot_71 CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30) + (receptacleAtLocation 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DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60) + (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 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"trial_T20190907_160948_887016", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1DMXEJGJY02E1_36TFCYNS47R8RT4JPP2FYXJHAPQHX3", + "high_descs": [ + "Go to the table on your left, to the left of the coffee maker.", + "Pick up the tomato from the table", + "Turn right and go to the fridge.", + "Chill the tomato and take it out of the fridge.", + "Go back to the table to the left of the coffee maker.", + "Put the tomato on the table." + ], + "task_desc": "Put a chilled tomato on the table to the left of the coffee maker.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PGS1Q1XAY79I_3GA6AFUKOR5WBVX550VRRHUD3UQH34", + "high_descs": [ + "Turn to your left and walk to the front of the white table.", + "Pick up the tomato near the wall at the back of the table.", + "Turn to your right and walk to the fridge.", + "Open the fridge door and place the tomato on the top rack, close the fridge door; after cooling, open the fridge door and pick up the tomato, close the fridge door.", + "Turn to your left and walk to the front of the white table at the end with the head of lettuce on it.", + "Put the tomato near the front edge of the table and to the right of the spoon." + ], + "task_desc": "Refrigerate a tomato, place it on the table", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A5X1KZ9CCHREK_3PXX5PX6L0FM43T4EN05SE5LESIABK", + "high_descs": [ + "Walk to the left to face the table.", + "Pick up the tomato from the table.", + "Walk to the right and face the refrigerator. ", + "open the door and put the tomato inside. Wait few seconds open the door and pick it up again", + "Walk to the left and face the table.", + "Put the tomato back on the table beside the spoon." + ], + "task_desc": "Put the tomato to the refrigerator and return it to the table.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..bfdb92dc49202d9b481ba82e4f1844e928fcb96d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/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 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_T20190907_161020_211057)\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_08_bar__plus_00_dot_14 - object\n Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 - object\n Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 - object\n Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 - object\n Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 - object\n ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 - object\n ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - object\n Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 - object\n Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 - object\n DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 - object\n DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 - object\n DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 - object\n Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 - object\n Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 - object\n Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object\n Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 - object\n Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 - object\n Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 - object\n LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object\n Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 - object\n Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object\n PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 - object\n PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 - object\n Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 - object\n Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 - object\n Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object\n Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object\n SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 - object\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 - object\n SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 - object\n Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 - object\n Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 - object\n Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 - object\n Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object\n StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object\n Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 - object\n Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object\n Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle\n Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle\n CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle\n CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle\n CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle\n DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle\n DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle\n Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle\n Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle\n GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle\n Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle\n Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle\n StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle\n Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle\n loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_4_bar_17_bar_1_bar_60 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar_30 - location\n loc_bar__minus_3_bar_6_bar_2_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_45 - location\n loc_bar__minus_8_bar_14_bar_3_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_30 - location\n loc_bar__minus_10_bar_5_bar_3_bar_0 - location\n loc_bar__minus_3_bar_7_bar_1_bar_15 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_14_bar_1_bar_45 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_4_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_17_bar_1_bar_30 - location\n loc_bar__minus_8_bar_14_bar_3_bar_30 - location\n loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location\n loc_bar__minus_7_bar_17_bar_3_bar_60 - location\n loc_bar__minus_8_bar_5_bar_2_bar_45 - location\n loc_bar__minus_3_bar_5_bar_2_bar_45 - location\n loc_bar__minus_4_bar_17_bar_1_bar_45 - location\n loc_bar__minus_5_bar_11_bar_1_bar_60 - location\n loc_bar__minus_8_bar_10_bar_3_bar_60 - location\n loc_bar__minus_10_bar_4_bar_2_bar_60 - location\n loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location\n loc_bar__minus_2_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType)\n (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType)\n (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType)\n (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType)\n (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType)\n (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType)\n (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType)\n (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType)\n (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType)\n (objectType SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 SoapBottleType)\n (objectType SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType)\n (objectType DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 DishSpongeType)\n (objectType Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 BowlType)\n (objectType PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 PepperShakerType)\n (objectType Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 CupType)\n (objectType ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 ButterKnifeType)\n (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType)\n (objectType Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 ForkType)\n (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 SoapBottleType)\n (objectType Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 BreadType)\n (objectType Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 AppleType)\n (objectType Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 KnifeType)\n (objectType Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 PlateType)\n (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 PanType)\n (objectType DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 DishSpongeType)\n (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType)\n (objectType Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 TomatoType)\n (objectType PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 PepperShakerType)\n (objectType Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 SpoonType)\n (objectType 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StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 StoveKnobType)\n (objectType Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 EggType)\n (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 StoveKnobType)\n (objectType Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 PotType)\n (objectType Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 SpoonType)\n (objectType Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 EggType)\n (objectType Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 PotatoType)\n (objectType Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 PotType)\n (objectType Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 BowlType)\n (objectType SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 SoapBottleType)\n (objectType Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 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DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67)\n (inReceptacle PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36)\n (inReceptacle Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00)\n (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27)\n (inReceptacle Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49)\n (inReceptacle Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41)\n (inReceptacle SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37)\n (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43)\n (inReceptacle Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22)\n (inReceptacleObject Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_3_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_5_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 loc_bar__minus_8_bar_14_bar_3_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 loc_bar__minus_8_bar_4_bar_2_bar__minus_30)\n (objectAtLocation SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 loc_bar__minus_10_bar_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 loc_bar__minus_4_bar_11_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_3_bar_4_bar_2_bar__minus_30)\n (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30)\n (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 loc_bar__minus_3_bar_4_bar_2_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15)\n (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0)\n (objectAtLocation Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 loc_bar__minus_3_bar_5_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_3_bar_6_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 loc_bar__minus_8_bar_14_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 loc_bar__minus_4_bar_17_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45)\n (objectAtLocation Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (coolable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r DiningTableType)\n (isCool ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 2", "take tomato 1 from diningtable 2", "go to fridge 1", "cool tomato 1 with fridge 1", "go to diningtable 2", "move tomato 1 to diningtable 2"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..806b4783442403ecfbc5b030223e2c8900984aaf --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/initial_state.pddl @@ -0,0 +1,893 @@ + +(define (problem plan_trial_T20190907_161020_211057) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_08_bar__plus_00_dot_14 - object + Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 - object + Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 - object + Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 - object + Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 - object + ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 - object + ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 - object + Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 - object + Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 - object + DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 - object + DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 - object + DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 - object + Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 - object + Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 - object + Faucet_bar__minus_01_dot_08_bar__plus_00_dot_92_bar__plus_00_dot_03 - object + Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 - object + Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 - object + Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 - object + LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 - object + Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 - object + Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 - object + PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 - object + PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 - object + Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 - object + Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 - object + Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 - object + Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 - object + SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 - object + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 - object + SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 - object + SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 - object + Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 - object + Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 - object + Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 - object + Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 - object + StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 - object + Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 - object + Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 - object + Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 - receptacle + Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 - receptacle + CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 - receptacle + CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 - receptacle + CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 - receptacle + DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 - receptacle + DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 - receptacle + Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 - receptacle + Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 - receptacle + GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 - receptacle + Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 - receptacle + Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 - receptacle + StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 - receptacle + Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 - receptacle + loc_bar__minus_5_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_4_bar_17_bar_1_bar_60 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_8_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_3_bar_5_bar_2_bar_30 - location + loc_bar__minus_3_bar_6_bar_2_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_45 - location + loc_bar__minus_8_bar_14_bar_3_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_30 - location + loc_bar__minus_10_bar_5_bar_3_bar_0 - location + loc_bar__minus_3_bar_7_bar_1_bar_15 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_14_bar_1_bar_45 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_4_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_17_bar_1_bar_30 - location + loc_bar__minus_8_bar_14_bar_3_bar_30 - location + loc_bar__minus_3_bar_5_bar_2_bar__minus_30 - location + loc_bar__minus_7_bar_17_bar_3_bar_60 - location + loc_bar__minus_8_bar_5_bar_2_bar_45 - location + loc_bar__minus_3_bar_5_bar_2_bar_45 - location + loc_bar__minus_4_bar_17_bar_1_bar_45 - location + loc_bar__minus_5_bar_11_bar_1_bar_60 - location + loc_bar__minus_8_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_4_bar_2_bar_60 - location + loc_bar__minus_3_bar_4_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49 CounterTopType) + (receptacleType StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 MicrowaveType) + (receptacleType DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00 DiningTableType) + (receptacleType CoffeeMachine_bar__minus_02_dot_96_bar__plus_00_dot_93_bar__plus_03_dot_61 CoffeeMachineType) + (receptacleType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_00_dot_60_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_56_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 FridgeType) + (receptacleType Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 GarbageCanType) + (receptacleType CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35 CounterTopType) + (receptacleType Cabinet_bar__minus_01_dot_59_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39 CabinetType) + (receptacleType DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_55_bar__plus_00_dot_49_bar__plus_00_dot_65 CabinetType) + (objectType SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 SoapBottleType) + (objectType SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 SaltShakerType) + (objectType DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 DishSpongeType) + (objectType Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 BowlType) + (objectType PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 PepperShakerType) + (objectType Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 CupType) + (objectType ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 ButterKnifeType) + (objectType Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 WindowType) + (objectType Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 ForkType) + (objectType SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 SoapBottleType) + (objectType Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 BreadType) + (objectType Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 AppleType) + (objectType Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 KnifeType) + (objectType Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 PlateType) + (objectType Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 PanType) + (objectType DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 DishSpongeType) + (objectType Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 SinkType) + (objectType Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 TomatoType) + (objectType PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 PepperShakerType) + (objectType Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 SpoonType) + (objectType Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 BowlType) + (objectType Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 LettuceType) + (objectType Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 CupType) + (objectType LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 LightSwitchType) + (objectType ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 ButterKnifeType) + (objectType DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 DishSpongeType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 StoveKnobType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 StoveKnobType) + (objectType Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 PlateType) + (objectType Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 MugType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 StoveKnobType) + (objectType Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 EggType) + (objectType StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 StoveKnobType) + (objectType Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 PotType) + (objectType Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 SpoonType) + (objectType Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 EggType) + (objectType Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 PotatoType) + (objectType Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 PotType) + (objectType Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 BowlType) + (objectType SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 SoapBottleType) + (objectType Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 SpoonType) + (objectType Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 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SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle PepperShaker_bar__minus_00_dot_38_bar__plus_00_dot_66_bar__plus_00_dot_30 Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 Cabinet_bar__minus_01_dot_51_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_02_dot_19_bar__plus_01_dot_77_bar__plus_00_dot_25 Cabinet_bar__minus_02_dot_47_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 Cabinet_bar__minus_00_dot_52_bar__plus_02_dot_05_bar__plus_00_dot_39) + (inReceptacle DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 CounterTop_bar__minus_01_dot_37_bar__plus_00_dot_95_bar__plus_00_dot_35) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67) + (inReceptacle PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Bowl_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_31 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 DiningTable_bar__minus_02_dot_76_bar__plus_00_dot_01_bar__plus_02_dot_36) + (inReceptacle Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle ButterKnife_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_93 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 DiningTable_bar__minus_00_dot_47_bar__plus_00_dot_01_bar__plus_03_dot_00) + (inReceptacle Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27) + (inReceptacle Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 CounterTop_bar__minus_02_dot_78_bar__plus_00_dot_97_bar__plus_03_dot_49) + (inReceptacle Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41) + (inReceptacle SoapBottle_bar__minus_02_dot_82_bar__plus_00_dot_05_bar__plus_00_dot_28 GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37) + (inReceptacle Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Cup_bar__minus_02_dot_89_bar__plus_00_dot_63_bar__plus_04_dot_28 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43) + (inReceptacle Egg_bar__minus_00_dot_84_bar__plus_00_dot_83_bar__plus_00_dot_39 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacle Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22) + (inReceptacleObject Plate_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_53 Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_48_bar__plus_02_dot_05_bar__plus_00_dot_39 loc_bar__minus_3_bar_5_bar_2_bar__minus_30) 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Drawer_bar__minus_00_dot_33_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_3_bar_6_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_82_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_4_bar_5_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_02_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_41 loc_bar__minus_6_bar_5_bar_2_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_80_bar__plus_00_dot_00_bar__plus_04_dot_43 loc_bar__minus_7_bar_17_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_02_dot_82_bar__plus_00_dot_00_bar__plus_00_dot_37 loc_bar__minus_10_bar_4_bar_2_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__plus_00_dot_22 loc_bar__minus_3_bar_5_bar_2_bar_30) + (receptacleAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34_bar_SinkBasin loc_bar__minus_3_bar_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_25_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_00_dot_54_bar__plus_00_dot_92_bar__plus_04_dot_67 loc_bar__minus_4_bar_17_bar_1_bar_60) + (receptacleAtLocation Toaster_bar__minus_00_dot_29_bar__plus_00_dot_89_bar__plus_03_dot_56 loc_bar__minus_4_bar_14_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_81_bar__plus_01_dot_18_bar__plus_04_dot_28 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_02_dot_48_bar__plus_00_dot_90_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Pot_bar__minus_00_dot_54_bar__plus_00_dot_93_bar__plus_04_dot_27 loc_bar__minus_4_bar_17_bar_1_bar_60) + (objectAtLocation 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loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_60 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_49 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_86_bar__plus_01_dot_77_bar__plus_00_dot_30 loc_bar__minus_3_bar_4_bar_2_bar__minus_30) + (objectAtLocation Sink_bar__minus_01_dot_11_bar__plus_00_dot_93_bar__plus_00_dot_34 loc_bar__minus_4_bar_4_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_79_bar__plus_00_dot_33_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_63 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_78 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_38 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__minus_00_dot_06_bar__plus_01_dot_09_bar__plus_04_dot_22 loc_bar__minus_4_bar_17_bar_1_bar_30) + (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_78_bar__plus_00_dot_25 loc_bar__minus_3_bar_4_bar_2_bar_30) + (objectAtLocation Fork_bar__minus_02_dot_58_bar__plus_00_dot_90_bar__plus_02_dot_05 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_02_dot_69_bar__plus_00_dot_96_bar__plus_02_dot_57 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_40_bar__plus_01_dot_08_bar__plus_00_dot_14 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation Lettuce_bar__minus_00_dot_66_bar__plus_00_dot_98_bar__plus_03_dot_54 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_00_dot_07_bar__plus_01_dot_45_bar__plus_02_dot_00 loc_bar__minus_3_bar_7_bar_1_bar_15) + (objectAtLocation Window_bar__minus_03_dot_08_bar__plus_01_dot_59_bar__plus_01_dot_36 loc_bar__minus_10_bar_5_bar_3_bar_0) + (objectAtLocation Spatula_bar__minus_02_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_91 loc_bar__minus_8_bar_10_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_02_dot_22_bar__plus_00_dot_69_bar__plus_00_dot_36 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_00_dot_92_bar__plus_00_dot_82_bar__plus_00_dot_34 loc_bar__minus_3_bar_5_bar_2_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_14_bar__plus_00_dot_96_bar__plus_03_dot_13 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_19_bar__plus_01_dot_02_bar__plus_00_dot_24 loc_bar__minus_3_bar_5_bar_2_bar_30) + (objectAtLocation SaltShaker_bar__minus_00_dot_22_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_3_bar_6_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_88_bar__plus_00_dot_66_bar__plus_00_dot_57 loc_bar__minus_4_bar_5_bar_2_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_63_bar__plus_00_dot_94_bar__plus_03_dot_77 loc_bar__minus_8_bar_14_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Pan_bar__minus_00_dot_25_bar__plus_00_dot_93_bar__plus_04_dot_65 loc_bar__minus_4_bar_17_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_01_dot_90_bar__plus_00_dot_93_bar__plus_00_dot_43 loc_bar__minus_8_bar_5_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_00_dot_31_bar__plus_00_dot_90_bar__plus_02_dot_73 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__plus_02_dot_33 loc_bar__minus_5_bar_11_bar_1_bar_60) + (objectAtLocation Mug_bar__minus_02_dot_76_bar__plus_00_dot_63_bar__plus_04_dot_58 loc_bar__minus_7_bar_17_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_01_dot_75_bar__plus_01_dot_77_bar__plus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (coolable ?o) + (objectType ?o TomatoType) + (receptacleType ?r DiningTableType) + (isCool ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/traj_data.json b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..472a44e362a7ec97d7fe5d228fd0f1788d485421 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_cool_then_place_in_recep-Tomato-None-DiningTable-26/trial_T20190907_161020_211057/traj_data.json @@ -0,0 +1,10281 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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"position": { + "x": -2.805756, + "y": 1.18295324, + "z": 4.27852535 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4031683308, + "scene_num": 26 + }, + "task_id": "trial_T20190907_161020_211057", + "task_type": "pick_cool_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36DK84J5YJ942_3NQL1CS15UP29ZPDZA5LWCHZKACVYU", + "high_descs": [ + "Move to the table to the left of you", + "Pick up a tomato from the table ", + "Move to the fridge behind you", + "Chill the tomato for a moment in the fridge ", + "Move to the table to the left of the fridge", + "Put the tomato on the table" + ], + "task_desc": "Put a chilled tomato on the table to the left of the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A272X64FOZFYLB_3R5F3LQFV517O5QLUKLQFRWTUAFOZ6", + "high_descs": [ + "Turn around and walk toward the table to the right.", + "Pick up the tomato off of the table.", + "Turn around and walk to the refrigerator.", + "Cool the tomato in the refrigerator for a few seconds and take it back out.", + "Turn left and walk to the dining table with a loaf of bread on it.", + "Put the tomato on the dining table, in front of the loaf of bread." + ], + "task_desc": "Put a cooled tomato on a dining table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A028LRDJB7ZB_3X4MXAO0BJ56RNDWBPINAI7GOVZWR1", + "high_descs": [ + "Turn to your right then cross the room head to the table beside the stove", + "Pick up the tomato on the table beside toaster", + "Turn to your left then walk towards the fridge", + "Open the fridge put in and out the tomato then close the fridge", + "Turn to your left then walk straight towards the table on your right", + "Put the tomato on the edge of the table" + ], + "task_desc": "Put the chilled tomato 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-SinkBasin-20/trial_T20190909_044501_634507/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044501_634507/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..a41b8d91d9d4b33b878fa2bd6c3192cf8d229ed7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044501_634507/initial_state.pddl @@ -0,0 +1,1005 @@ + +(define (problem plan_trial_T20190909_044501_634507) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_72_bar__plus_00_dot_98_bar__minus_02_dot_17 - object + Apple_bar__minus_01_dot_50_bar__plus_01_dot_58_bar__minus_00_dot_60 - object + Apple_bar__minus_01_dot_57_bar__plus_01_dot_58_bar__minus_01_dot_01 - object + Bowl_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_08 - object + Bowl_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_48 - object + Bowl_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_61 - object + Bread_bar__plus_00_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_99 - object + ButterKnife_bar__plus_00_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_73 - object + ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_02_dot_17 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_91 - object + Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_87 - object + Cup_bar__plus_02_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + DishSponge_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + DishSponge_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_01_dot_94 - object + DishSponge_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_07 - object + Egg_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_39 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Fork_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Knife_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Ladle_bar__plus_00_dot_01_bar__plus_00_dot_81_bar__minus_02_dot_03 - object + Ladle_bar__plus_00_dot_46_bar__plus_00_dot_96_bar__minus_02_dot_17 - object + Lettuce_bar__plus_01_dot_83_bar__plus_00_dot_99_bar__minus_01_dot_33 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Mug_bar__minus_01_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_35 - object + Mug_bar__minus_01_dot_44_bar__plus_01_dot_18_bar__minus_00_dot_81 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_81 - object + Plate_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40 - object + Potato_bar__plus_00_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_76 - object + Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 - object + SaltShaker_bar__minus_00_dot_89_bar__plus_00_dot_91_bar__minus_02_dot_08 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + SoapBottle_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_38 - object + SoapBottle_bar__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_23 - object + Spatula_bar__plus_00_dot_46_bar__plus_00_dot_93_bar__minus_01_dot_75 - object + Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_01_dot_75 - object + Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_17 - object + Spoon_bar__minus_00_dot_28_bar__plus_00_dot_77_bar__minus_02_dot_03 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_31 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + WineBottle_bar__plus_01_dot_34_bar__plus_01_dot_66_bar__minus_02_dot_24 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 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loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_87 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation PepperShaker_bar__plus_01_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_81 loc_bar_3_bar__minus_3_bar_2_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_02_dot_17 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar_4_bar__minus_2_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 loc_bar_4_bar__minus_1_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation 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loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r SinkBasinType) + (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-SinkBasin-20/trial_T20190909_044501_634507/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044501_634507/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..cd32766b12244ccffef49643863c7813a2a32f6a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044501_634507/traj_data.json @@ -0,0 +1,8046 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, 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}, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.55301332, + "y": 0.9130036, + "z": -0.392487466 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": -0.283820421, + "y": 0.765585542, + "z": -2.0264 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": 0.408444166, + "y": 0.9537251, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": -1.43811178, + "y": 1.17868447, + "z": -0.806503534 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1527502521, + "scene_num": 20 + }, + "task_id": "trial_T20190909_044501_634507", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_32EYX73OY301K8APCXS3TG6LXEGURN", + "high_descs": [ + "Turn right and go to the front of the sink.", + "Pick up the gray knife on the right on the edge of the counter.", + "Move over right to the counter top with the apple", + "Cut the apple into three parts. ", + "Move back left to the sink.", + "Place the gray knife in the sink. ", + "Move right back to the counter with the cut apple.", + "Pick up one piece of the apple.", + "Go to the front of the microwave on the top of the counter on the right. ", + "Remove the apple piece from the microwave after heating it.", + "Turn left to go back to the sink.", + "Place the apple piece in the sink. " + ], + "task_desc": "Put a heated piece of apple in the sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_337RC3OW08TQUP4CC35C3QZ55U2VLR", + "high_descs": [ + "Turn right and step forward to face the sink.", + "Pick up the knife on the edge of the sink.", + "Look to the right to face the apple on the counter.", + "Cut the apple on the counter into three pieces.", + "Look to the left to face the sink.", + "Place the knife in the sink.", + "Look to the right to face the apple on the counter.", + "Pick up a piece of apple on the counter.", + "Turn right to face the microwave.", + "Heat the apple in the microwave and remove it.", + "Turn left to face the sink.", + "Place the apple in the sink." + ], + "task_desc": "To heat an apple and place it in the sink.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB80JPV0HQ5O_3TDXMTX3CEL3PYH5QS0RZIRE7WYI6O", + "high_descs": [ + "Go straight, turn right. Walk to the sink. ", + "Pick up the knife near the sink.", + "Turn left, turn left, turn left, turn left to the microwave.", + "Cut the apple into slices.", + "Turn left, turn right, walk straight to the sink.", + "Put the knife in the sink.", + "Turn left, turn left, turn left, turn left to the microwave.", + "Pick up the slice of fruit.", + "Turn left, walk straight, turn right to the microwave.", + "Open the microwave. Put the apple inside. Turn on the microwave. Close the microwave.", + "Open the microwave. Take the apple. Turn left to the sink.", + "Put the apple into the sink." + ], + "task_desc": "Put a cooked apple slice into the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044620_454567/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044620_454567/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..679219d1afce5a8ef76763e795c0f1e6bb72607d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044620_454567/initial_state.pddl @@ -0,0 +1,1007 @@ + +(define (problem plan_trial_T20190909_044620_454567) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_18_bar__plus_01_dot_00_bar__plus_00_dot_53 - object + Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_22 - object + Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_53 - object + Bowl_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 - object + Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91 - object + Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 - object + Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 - object + ButterKnife_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + ButterKnife_bar__minus_00_dot_23_bar__plus_00_dot_91_bar__minus_01_dot_71 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61 - object + DishSponge_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_26 - object + Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_94 - object + 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loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType 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Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (heatable Potato_bar__plus_00_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_31) + (heatable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91) + (coolable Plate_bar__minus_01_dot_50_bar__plus_01_dot_19_bar__minus_00_dot_50) + (coolable Cup_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61) + (coolable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_22) + (coolable Potato_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_15) + (coolable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_00_dot_53) + (coolable Lettuce_bar__minus_00_dot_16_bar__plus_01_dot_01_bar__plus_00_dot_31) + (coolable Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91) + (coolable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_08) + (coolable Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93) + (coolable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_53) + (coolable Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54) + (coolable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_94) + (coolable Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45) + (coolable Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_99) + (coolable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76) + (coolable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31) + (coolable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (coolable Potato_bar__plus_00_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_31) + (coolable Bowl_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33) + (coolable WineBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_45) + (coolable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91) + + + + + + (sliceable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_22) + (sliceable Potato_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_15) + (sliceable Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_00_dot_53) + (sliceable Lettuce_bar__minus_00_dot_16_bar__plus_01_dot_01_bar__plus_00_dot_31) + (sliceable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_53) + (sliceable Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54) + (sliceable Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_94) + (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45) + (sliceable Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_99) + (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76) + (sliceable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31) + (sliceable Potato_bar__plus_00_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_31) + (sliceable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91) + + (inReceptacleObject ButterKnife_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_76 Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76) + (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle Cup_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_61 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_74 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Bowl_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle PepperShaker_bar__plus_01_dot_75_bar__plus_00_dot_12_bar__minus_01_dot_14 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 Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_00_dot_52_bar__plus_00_dot_95_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Lettuce_bar__minus_00_dot_16_bar__plus_01_dot_01_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_18_bar__plus_01_dot_00_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_00_dot_52_bar__plus_00_dot_96_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_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 Tomato_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_00_dot_46_bar__plus_00_dot_93_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spatula_bar__plus_01_dot_74_bar__plus_00_dot_93_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__minus_00_dot_23_bar__plus_00_dot_91_bar__minus_01_dot_71 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__minus_00_dot_56_bar__plus_00_dot_91_bar__minus_02_dot_13 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__minus_00_dot_93_bar__plus_00_dot_91_bar__minus_02_dot_12 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Fork_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Potato_bar__minus_01_dot_00_bar__plus_00_dot_94_bar__minus_02_dot_15 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_23 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_91_bar__minus_02_dot_12 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_26 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_48 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Plate_bar__minus_01_dot_50_bar__plus_01_dot_19_bar__minus_00_dot_50 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11) + (inReceptacle Egg_bar__minus_00_dot_36_bar__plus_00_dot_82_bar__minus_01_dot_94 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Spoon_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_02_dot_07 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (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_47_bar__minus_01_dot_69 loc_bar_3_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_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (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_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar__minus_1_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_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_4_bar_2_bar__minus_15) + (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_83 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 loc_bar__minus_4_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 loc_bar_5_bar_1_bar_1_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 loc_bar__minus_1_bar__minus_5_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 loc_bar_5_bar_5_bar_0_bar_45) + (receptacleAtLocation Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 loc_bar_6_bar_8_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_02_dot_07 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_23_bar__plus_00_dot_91_bar__minus_01_dot_71 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_11_bar__plus_00_dot_91_bar__minus_02_dot_12 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_56_bar__plus_00_dot_91_bar__minus_02_dot_13 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_01_dot_50_bar__plus_01_dot_19_bar__minus_00_dot_50 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_46_bar__plus_00_dot_93_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_91 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loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_45 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_52_bar__plus_00_dot_95_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_26_bar__plus_00_dot_95_bar__minus_01_dot_93 loc_bar_4_bar__minus_5_bar_2_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r SinkBasinType) + (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-SinkBasin-20/trial_T20190909_044620_454567/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190909_044620_454567/traj_data.json new file mode 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Turn to the right.", + "Cook the apple in the microwave then take it out.", + "Turn left to the sink.", + "Put the piece of apple in the sink." + ], + "task_desc": "Put a cooked piece of apple in a sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3C81THYYSBGVD_3K4J6M3CXHKQG9NDQHH0UBGKO32GAS", + "high_descs": [ + "Turn around and face the sink in front of you.", + "Take the knife from the sink in front of you.", + "Turn around and face the table to your right.", + "Slice the apple on the table in front of you.", + "Turn right and face the cabinet by the sink in front of you.", + "Place the knife in the cabinet in front of you then close it.", + "Turn around and face the table to your right.", + "Take an apple slice from the table in front of you.", + "Turn right and face the microwave to your right.", + "Heat up the apple in the microwave then take it out.", + "Face the sink to your left.", + "Place the apple slice in the sink in front of you." + ], + "task_desc": "Place a hot apple in the sink.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_32XVDSJFP2O13GOVO5MG1YHJ81F2M8", + "high_descs": [ + "Turn around, go to the sink", + "Pick up the knife in front of the sink", + "Turn around, go the table", + "Cut the apple on the table", + "Turn around, go to the sink", + "Put the knife in the cupboard to the right of the sink", + "Turn around, go the table", + "Pick up an apple piece from the table ", + "Turn around, go to the sink, turn right to the microwave", + "Put the apple piece in the microwave, start the microwave, wait, pick up the apple piece from the microwave", + "Turn left to the sink", + "Put the apple piece in the sink" + ], + "task_desc": "Cut an apple, cook a piece of the apple", + "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-AppleSliced-None-SinkBasin-20/trial_T20190918_160114_778443/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190918_160114_778443/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c588db1c96919f5b051a776efd0569a0905c9a13 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190918_160114_778443/initial_state.pddl @@ -0,0 +1,1052 @@ + +(define (problem plan_trial_T20190918_160114_778443) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_41_bar__plus_01_dot_00_bar__plus_00_dot_53 - object + Apple_bar__minus_00_dot_14_bar__plus_00_dot_84_bar__minus_01_dot_98 - object + Apple_bar__minus_00_dot_14_bar__plus_00_dot_84_bar__minus_02_dot_12 - object + Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_23 - object + Bowl_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33 - 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_07_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_02_dot_09 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_01_dot_46_bar__plus_00_dot_12_bar__minus_01_dot_20 - object + Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_24 - object + Cup_bar__minus_01_dot_32_bar__plus_00_dot_86_bar__minus_01_dot_01 - object + DishSponge_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_00 - object + DishSponge_bar__plus_01_dot_88_bar__plus_01_dot_66_bar__minus_01_dot_12 - object + Egg_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Egg_bar__minus_01_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_01 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_92 - object + Knife_bar__plus_01_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_83 - object + Knife_bar__minus_00_dot_21_bar__plus_00_dot_79_bar__minus_01_dot_98 - object + Knife_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_02_dot_07 - object + Ladle_bar__plus_01_dot_69_bar__plus_00_dot_16_bar__minus_01_dot_33 - object + Lettuce_bar__minus_00_dot_05_bar__plus_01_dot_01_bar__plus_00_dot_31 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_59 - object + Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + Pan_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50 - object + PepperShaker_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + PepperShaker_bar__minus_01_dot_28_bar__plus_02_dot_14_bar__minus_00_dot_91 - object + PepperShaker_bar__minus_01_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_20 - object + Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_08 - object + Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_39 - 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_01_dot_45 - object + SaltShaker_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + SaltShaker_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_81 - object + SoapBottle_bar__plus_02_dot_01_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_09 - object + Spatula_bar__plus_01_dot_62_bar__plus_00_dot_93_bar__minus_02_dot_09 - object + Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_83 - object + Spoon_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + Spoon_bar__minus_00_dot_06_bar__plus_00_dot_77_bar__minus_02_dot_07 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_08 - object + Tomato_bar__plus_00_dot_46_bar__plus_00_dot_97_bar__minus_02_dot_25 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_54 - object + WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_83 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar_3_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 ShelfType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 MicrowaveType) + (receptacleType Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 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Fork_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_45) + (cleanable DishSponge_bar__plus_01_dot_88_bar__plus_01_dot_66_bar__minus_01_dot_12) + (cleanable Lettuce_bar__minus_00_dot_05_bar__plus_01_dot_01_bar__plus_00_dot_31) + (cleanable Ladle_bar__plus_01_dot_69_bar__plus_00_dot_16_bar__minus_01_dot_33) + (cleanable Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_83) + (cleanable Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (cleanable Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_39) + (cleanable Apple_bar__minus_00_dot_14_bar__plus_00_dot_84_bar__minus_02_dot_12) + (cleanable Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33) + (cleanable Tomato_bar__plus_00_dot_46_bar__plus_00_dot_97_bar__minus_02_dot_25) + (cleanable Apple_bar__plus_00_dot_41_bar__plus_01_dot_00_bar__plus_00_dot_53) + (cleanable Fork_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_92) + (cleanable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_08) + (cleanable Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_45) + (cleanable Spoon_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_76) + + (heatable Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56) + (heatable Cup_bar__plus_01_dot_46_bar__plus_00_dot_12_bar__minus_01_dot_20) + (heatable Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_24) + (heatable Egg_bar__minus_01_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_01) + (heatable Cup_bar__minus_01_dot_32_bar__plus_00_dot_86_bar__minus_01_dot_01) + (heatable Apple_bar__minus_00_dot_62_bar__plus_00_dot_98_bar__minus_02_dot_23) + (heatable Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_08) + (heatable Mug_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_59) + (heatable Apple_bar__minus_00_dot_14_bar__plus_00_dot_84_bar__minus_01_dot_98) + (heatable Egg_bar__plus_00_dot_29_bar__plus_00_dot_98_bar__plus_00_dot_76) + (heatable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (heatable Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_39) + (heatable Apple_bar__minus_00_dot_14_bar__plus_00_dot_84_bar__minus_02_dot_12) + (heatable Tomato_bar__plus_00_dot_46_bar__plus_00_dot_97_bar__minus_02_dot_25) + (heatable Apple_bar__plus_00_dot_41_bar__plus_01_dot_00_bar__plus_00_dot_53) + (heatable Potato_bar__minus_00_dot_05_bar__plus_00_dot_96_bar__plus_00_dot_08) + (heatable Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_45) + (coolable Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56) + (coolable Cup_bar__plus_01_dot_46_bar__plus_00_dot_12_bar__minus_01_dot_20) + (coolable Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_24) + (coolable Egg_bar__minus_01_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_01) + (coolable 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Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83) + (inReceptacle PepperShaker_bar__minus_01_dot_28_bar__plus_02_dot_14_bar__minus_00_dot_91 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83) + (inReceptacle WineBottle_bar__plus_01_dot_83_bar__plus_01_dot_66_bar__minus_01_dot_54 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle DishSponge_bar__plus_01_dot_88_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) + (inReceptacle Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_24 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle SoapBottle_bar__plus_01_dot_29_bar__plus_00_dot_12_bar__minus_01_dot_81 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Cup_bar__plus_01_dot_46_bar__plus_00_dot_12_bar__minus_01_dot_20 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SaltShaker_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Mug_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_83 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Bowl_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle 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Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (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_47_bar__minus_01_dot_69 loc_bar_3_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_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 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(objectAtLocation Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 loc_bar_6_bar_4_bar_1_bar_15) + (objectAtLocation WineBottle_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_83 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_09 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_45 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_53 loc_bar_5_bar_5_bar_0_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation Cup_bar__plus_01_dot_99_bar__plus_01_dot_66_bar__minus_01_dot_24 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (objectAtLocation PepperShaker_bar__minus_01_dot_31_bar__plus_02_dot_14_bar__minus_01_dot_20 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30) + (objectAtLocation Pan_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_02_dot_09 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar_4_bar__minus_2_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 loc_bar_4_bar__minus_1_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation Tomato_bar__plus_00_dot_18_bar__plus_00_dot_98_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 loc_bar__minus_4_bar_5_bar_1_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Egg_bar__minus_01_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_01 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Spoon_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_01_dot_83 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Knife_bar__plus_01_dot_15_bar__plus_00_dot_94_bar__minus_01_dot_83 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_36_bar__plus_00_dot_55_bar__plus_02_dot_59 loc_bar_5_bar_5_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o AppleType) + (receptacleType ?r SinkBasinType) + (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-SinkBasin-20/trial_T20190918_160114_778443/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190918_160114_778443/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..c2b2ad69d6189e3154fbb2b830a1b53d829375e3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-AppleSliced-None-SinkBasin-20/trial_T20190918_160114_778443/traj_data.json @@ -0,0 +1,7032 @@ +{ + "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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handle knife to the right of apples in sink", + "slice apple in back of sink", + "place knife in sink", + "pick up slice of apple from sink", + "turn right to counter with microwave", + "place apple slice on gray plate in microwave, microwave apple slice, take apple slice out of microwave, close microwave", + "turn left, go to sink", + "place apple slice in right side of sink" + ], + "task_desc": "place microwaved apple slice in sink", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3M0BCWMB8YNRW5I5B0LEBPME09JBWN", + "high_descs": [ + "Turn to the right and face the sink.", + "Pick the knife up from the sink.", + "Slice the apple in the back of the sink.", + "Put the knife in the sink.", + "Pick up a piece of apple from the sink.", + "Turn to the right to face the microwave.", + "Put the apple in the microwave and shut the door and then open the door and pick the piece of apple up again.", + "Turn to the left and face the sink.", + "Put the apple in the sink." + ], + "task_desc": "Put a warmed piece of apple in a sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..8cfac0dc3d2fc55c31d843366e5112fb7a0330f1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/initial_state.pddl @@ -0,0 +1,1354 @@ + +(define (problem plan_trial_T20190908_113342_014083) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92 - object + 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SaltShaker_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_08 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 - object + Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + Spoon_bar__minus_01_dot_78_bar__plus_00_dot_75_bar__plus_01_dot_96 - object + Spoon_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_88 - object + StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_97 - object + Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object + WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 - object + WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_46 - object + WineBottle_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57 - object + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle + 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- location + loc_bar__minus_5_bar_15_bar_1_bar_60 - location + loc_bar__minus_12_bar_12_bar_2_bar_60 - location + loc_bar__minus_12_bar_10_bar_2_bar_30 - location + loc_bar__minus_4_bar_21_bar_2_bar_60 - location + loc_bar__minus_2_bar_10_bar_0_bar__minus_30 - location + loc_bar__minus_15_bar_13_bar_3_bar_0 - location + loc_bar__minus_13_bar_11_bar_3_bar_45 - location + loc_bar__minus_12_bar_13_bar_3_bar_45 - location + loc_bar__minus_13_bar_16_bar_0_bar_45 - location + loc_bar__minus_15_bar_14_bar_3_bar__minus_30 - location + loc_bar__minus_14_bar_10_bar_3_bar__minus_15 - location + loc_bar__minus_15_bar_19_bar_0_bar__minus_30 - location + loc_bar__minus_4_bar_20_bar_1_bar_45 - location + loc_bar__minus_11_bar_10_bar_2_bar_30 - location + loc_bar__minus_14_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_21_bar_0_bar_60 - location + loc_bar__minus_10_bar_10_bar_2_bar_45 - location + loc_bar__minus_12_bar_13_bar_3_bar_60 - location + loc_bar__minus_8_bar_10_bar_2_bar_45 - location 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loc_bar__minus_6_bar_22_bar_1_bar_60 - location + loc_bar__minus_15_bar_14_bar_0_bar_30 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_12_bar_17_bar_3_bar_60 - location + loc_bar__minus_14_bar_19_bar_0_bar_60 - location + loc_bar__minus_4_bar_24_bar_2_bar_45 - location + loc_bar__minus_14_bar_10_bar_2_bar_45 - location + loc_bar__minus_9_bar_10_bar_2_bar_30 - location + loc_bar__minus_15_bar_13_bar_3_bar_60 - location + loc_bar__minus_9_bar_12_bar_2_bar_60 - location + loc_bar__minus_15_bar_19_bar_1_bar_60 - location + loc_bar__minus_12_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_18_bar_1_bar_45 - location + loc_bar__minus_14_bar_15_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 DrawerType) + (receptacleType 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WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80) + (coolable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__plus_03_dot_85) + (coolable Plate_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_16) + (coolable Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71) + (coolable Lettuce_bar__minus_00_dot_33_bar__plus_01_dot_02_bar__plus_05_dot_60) + (coolable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_97) + (coolable Cup_bar__minus_00_dot_34_bar__plus_01_dot_58_bar__plus_03_dot_29) + (coolable Mug_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16) + (coolable Potato_bar__minus_04_dot_11_bar__plus_00_dot_96_bar__plus_05_dot_16) + (coolable Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_35) + (coolable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27) + (coolable Egg_bar__minus_02_dot_69_bar__plus_01_dot_58_bar__plus_01_dot_73) + (coolable WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_46) + (coolable Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_57) + (coolable Egg_bar__minus_00_dot_42_bar__plus_01_dot_37_bar__plus_03_dot_73) + (coolable Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71) + (coolable WineBottle_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57) + (coolable Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_90) + + (isCool Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__plus_03_dot_85) + + + + (sliceable Apple_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92) + (sliceable Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__plus_03_dot_85) + (sliceable Lettuce_bar__minus_00_dot_33_bar__plus_01_dot_02_bar__plus_05_dot_60) + (sliceable Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_97) + (sliceable Potato_bar__minus_04_dot_11_bar__plus_00_dot_96_bar__plus_05_dot_16) + (sliceable Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_35) + (sliceable Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27) + (sliceable Egg_bar__minus_02_dot_69_bar__plus_01_dot_58_bar__plus_01_dot_73) + (sliceable Egg_bar__minus_00_dot_42_bar__plus_01_dot_37_bar__plus_03_dot_73) + + (inReceptacle PepperShaker_bar__minus_04_dot_09_bar__plus_00_dot_75_bar__plus_02_dot_77 Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50) + (inReceptacle Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle PepperShaker_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Knife_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Spoon_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01) + (inReceptacle PepperShaker_bar__minus_00_dot_22_bar__plus_02_dot_13_bar__plus_06_dot_53 Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81) + (inReceptacle SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Fork_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Lettuce_bar__minus_00_dot_33_bar__plus_01_dot_02_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Spoon_bar__minus_01_dot_78_bar__plus_00_dot_75_bar__plus_01_dot_96 Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96) + (inReceptacle Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_30 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Pan_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_41 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Mug_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Potato_bar__minus_04_dot_11_bar__plus_00_dot_96_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle PaperTowelRoll_bar__minus_04_dot_11_bar__plus_01_dot_03_bar__plus_05_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle WineBottle_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_90 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Pencil_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__plus_06_dot_07 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92) + (inReceptacle SaltShaker_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_08 Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89) + (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Bowl_bar__minus_01_dot_93_bar__plus_00_dot_08_bar__plus_01_dot_89 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacleObject Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62) + (inReceptacle Egg_bar__minus_02_dot_69_bar__plus_01_dot_58_bar__plus_01_dot_73 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle Mug_bar__minus_02_dot_53_bar__plus_01_dot_54_bar__plus_01_dot_73 Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69) + (inReceptacle DishSponge_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Plate_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_16 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_35 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Plate_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_60 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Apple_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Plate_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Egg_bar__minus_00_dot_42_bar__plus_01_dot_37_bar__plus_03_dot_73 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_34_bar__plus_01_dot_58_bar__plus_03_dot_29 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__plus_03_dot_85 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30) + (receptacleAtLocation Drawer_bar__minus_04_dot_13_bar__plus_00_dot_80_bar__plus_02_dot_50 loc_bar__minus_13_bar_11_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38 loc_bar__minus_10_bar_25_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_02_dot_69_bar__plus_01_dot_43_bar__plus_01_dot_69 loc_bar__minus_11_bar_10_bar_2_bar_15) + (receptacleAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin loc_bar__minus_15_bar_14_bar_3_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_10_bar_10_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60) + (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_02_dot_53_bar__plus_01_dot_54_bar__plus_01_dot_73 loc_bar__minus_11_bar_10_bar_2_bar_15) + (objectAtLocation Spoon_bar__minus_01_dot_78_bar__plus_00_dot_75_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_01_dot_95 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation PepperShaker_bar__minus_01_dot_61_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__minus_00_dot_10_bar__plus_00_dot_92_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Pot_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_04_dot_90 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation Pan_bar__minus_03_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_41 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_34_bar__plus_01_dot_58_bar__plus_03_dot_29 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_30_bar__plus_01_dot_15_bar__plus_03_dot_85 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation Plate_bar__minus_04_dot_20_bar__plus_00_dot_79_bar__plus_03_dot_16 loc_bar__minus_15_bar_14_bar_3_bar_60) + (objectAtLocation Fork_bar__minus_04_dot_10_bar__plus_00_dot_92_bar__plus_02_dot_30 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_03 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Egg_bar__minus_00_dot_42_bar__plus_01_dot_37_bar__plus_03_dot_73 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation PepperShaker_bar__minus_00_dot_22_bar__plus_02_dot_13_bar__plus_06_dot_53 loc_bar__minus_4_bar_25_bar_1_bar__minus_30) + (objectAtLocation Plate_bar__minus_00_dot_40_bar__plus_01_dot_07_bar__plus_03_dot_23 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation Egg_bar__minus_02_dot_69_bar__plus_01_dot_58_bar__plus_01_dot_73 loc_bar__minus_11_bar_10_bar_2_bar_15) + (objectAtLocation Cup_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_57 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 loc_bar__minus_4_bar_18_bar_1_bar_45) + (objectAtLocation WineBottle_bar__minus_03_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_93 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 loc_bar__minus_15_bar_13_bar_3_bar_60) + (objectAtLocation Egg_bar__minus_04_dot_31_bar__plus_00_dot_83_bar__plus_03_dot_35 loc_bar__minus_15_bar_14_bar_3_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_34_bar__plus_01_dot_74_bar__plus_03_dot_92 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation Knife_bar__minus_01_dot_78_bar__plus_00_dot_95_bar__plus_01_dot_72 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Potato_bar__minus_04_dot_11_bar__plus_00_dot_96_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_9_bar_10_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_11_bar_10_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_12_bar_10_bar_2_bar_30) + (objectAtLocation StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 loc_bar__minus_10_bar_10_bar_2_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_93_bar__plus_00_dot_08_bar__plus_01_dot_89 loc_bar__minus_9_bar_12_bar_2_bar_60) + (objectAtLocation Plate_bar__minus_00_dot_30_bar__plus_01_dot_07_bar__plus_03_dot_60 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_00_dot_33_bar__plus_01_dot_02_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Bread_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_22_bar__plus_01_dot_39_bar__plus_03_dot_97 loc_bar__minus_5_bar_15_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 loc_bar__minus_15_bar_14_bar_3_bar__minus_30) + (objectAtLocation Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 loc_bar__minus_15_bar_13_bar_3_bar_0) + (objectAtLocation WineBottle_bar__minus_03_dot_75_bar__plus_00_dot_07_bar__plus_06_dot_46 loc_bar__minus_10_bar_25_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_04_dot_11_bar__plus_01_dot_03_bar__plus_05_dot_42 loc_bar__minus_15_bar_19_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_04_dot_62 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation Pencil_bar__minus_00_dot_47_bar__plus_00_dot_75_bar__plus_06_dot_07 loc_bar__minus_4_bar_21_bar_0_bar_60) + (objectAtLocation Pan_bar__minus_02_dot_92_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45) + (objectAtLocation Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 loc_bar__minus_10_bar_10_bar_2_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_59_bar__plus_01_dot_17_bar__plus_01_dot_51 loc_bar__minus_4_bar_6_bar_3_bar_45) + (objectAtLocation SaltShaker_bar__minus_04_dot_12_bar__plus_00_dot_08_bar__plus_03_dot_08 loc_bar__minus_12_bar_13_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__minus_00_dot_57_bar__plus_00_dot_92_bar__plus_06_dot_59 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_04_dot_09_bar__plus_00_dot_75_bar__plus_02_dot_77 loc_bar__minus_13_bar_11_bar_3_bar_45) + (objectAtLocation ButterKnife_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_88 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation DishSponge_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_35 loc_bar__minus_15_bar_14_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_01_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_88 loc_bar__minus_8_bar_10_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_04_dot_34_bar__plus_00_dot_92_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r CounterTopType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..31be85e948bf25663888eefd1b31b0efec5b94c7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_113342_014083/traj_data.json @@ -0,0 +1,12203 @@ +{ + "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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Turn right to face counter with bread on it.", + "Slice bread on counter with knife.", + "Place knife on top of bread.", + "Remove center slice of bread.", + "Turn around, proceed to counter, turn left and proceed to stove.", + "Open microwave above stove, put slice of bread in microwave behind the egg, shut microwave door. Wait four seconds, open microwave door, remove bread slice, close door.", + "Turn left, proceed to counter to right. Turn right to face counter.", + "Put bread on counter, standing on its bottom, to the right of the green sponge." + ], + "task_desc": "Slice bread, warm it in microwave, put on counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AHBWX3WYMAB0E_3XC1O3LBOVDBHX0N785X28BK81KTLR", + "high_descs": [ + "Turn right and move to the counter to the left of the stove. 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on the counter", + "Take a slice of bread", + "Go to the microwave", + "Heat the slice of bread in the microwave", + "Go to the counter left of the stove", + "Place the slice of bread on the counter" + ], + "task_desc": "Place a heated slice of bread on a countertop", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_153747_502285/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_153747_502285/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..99b52f1027336c358454f5e75eb11361bb90455e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-13/trial_T20190908_153747_502285/initial_state.pddl @@ -0,0 +1,1337 @@ + +(define (problem plan_trial_T20190908_153747_502285) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_35_bar__plus_01_dot_12_bar__plus_03_dot_97 - object + Apple_bar__minus_03_dot_78_bar__plus_00_dot_12_bar__plus_06_dot_42 - object + Bowl_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_60 - object + Bowl_bar__minus_00_dot_34_bar__plus_01_dot_68_bar__plus_03_dot_85 - object + Bowl_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 - object + Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72 - object + ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_04_dot_94 - object + ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_88 - object + Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_36 - object + Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 - object + Cup_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_03_dot_23 - object + Curtains_bar__minus_04_dot_52_bar__plus_02_dot_25_bar__plus_03_dot_39 - object + DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 - object + DishSponge_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__plus_05_dot_42 - object + DishSponge_bar__minus_04_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_42 - object + Egg_bar__minus_00_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_62 - object + Egg_bar__minus_01_dot_86_bar__plus_00_dot_96_bar__plus_01_dot_80 - object + Faucet_bar__minus_04_dot_44_bar__plus_00_dot_91_bar__plus_03_dot_29 - object + Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_27 - object + Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 - object + Fork_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_16 - object + Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_05_dot_93 - object + Knife_bar__minus_03_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 - object + 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Potato_bar__minus_04_dot_24_bar__plus_00_dot_96_bar__plus_02_dot_88 - object + Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 - object + SaltShaker_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_72 - object + Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28 - object + SoapBottle_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_02_dot_21 - object + Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 - object + Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 - object + StoveKnob_bar__minus_02_dot_35_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_51_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_79_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + StoveKnob_bar__minus_02_dot_97_bar__plus_01_dot_10_bar__plus_01_dot_56 - object + Tomato_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__plus_05_dot_27 - object + Tomato_bar__minus_04_dot_23_bar__plus_00_dot_85_bar__plus_03_dot_16 - object + Window_bar__minus_04_dot_87_bar__plus_01_dot_63_bar__plus_03_dot_31 - object + WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57 - object + WineBottle_bar__minus_03_dot_64_bar__plus_00_dot_07_bar__plus_06_dot_46 - object + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 - receptacle + Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 - receptacle + Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 - receptacle + 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+ loc_bar__minus_12_bar_10_bar_3_bar_60 - location + loc_bar__minus_10_bar_25_bar_3_bar_60 - location + loc_bar__minus_6_bar_25_bar_1_bar_60 - location + loc_bar__minus_13_bar_19_bar_0_bar__minus_30 - location + loc_bar__minus_13_bar_12_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_3_bar_45 - location + loc_bar__minus_12_bar_17_bar_0_bar_60 - location + loc_bar__minus_5_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_0 - location + loc_bar__minus_11_bar_10_bar_2_bar_15 - location + loc_bar__minus_4_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_12_bar_10_bar_2_bar_45 - location + loc_bar__minus_15_bar_19_bar_0_bar_60 - location + loc_bar__minus_11_bar_17_bar_0_bar_60 - location + loc_bar__minus_4_bar_25_bar_1_bar_45 - location + loc_bar__minus_5_bar_17_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar_18_bar_1_bar__minus_30 - location + loc_bar__minus_10_bar_10_bar_2_bar_30 - location + loc_bar__minus_12_bar_12_bar_3_bar_45 - location + loc_bar__minus_15_bar_19_bar_3_bar_60 - location + loc_bar__minus_6_bar_22_bar_1_bar_60 - location + loc_bar__minus_15_bar_14_bar_0_bar_30 - location + loc_bar__minus_10_bar_10_bar_2_bar_60 - location + loc_bar__minus_4_bar_22_bar_1_bar__minus_30 - location + loc_bar__minus_12_bar_17_bar_3_bar_60 - location + loc_bar__minus_14_bar_19_bar_0_bar_60 - location + loc_bar__minus_4_bar_24_bar_2_bar_45 - location + loc_bar__minus_14_bar_10_bar_2_bar_45 - location + loc_bar__minus_9_bar_10_bar_2_bar_30 - location + loc_bar__minus_15_bar_13_bar_3_bar_60 - location + loc_bar__minus_5_bar_15_bar_1_bar_15 - location + loc_bar__minus_9_bar_12_bar_2_bar_60 - location + loc_bar__minus_15_bar_19_bar_1_bar_60 - location + loc_bar__minus_12_bar_10_bar_2_bar_60 - location + loc_bar__minus_10_bar_23_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 CabinetType) + (receptacleType 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Bowl_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41) + (coolable Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72) + (coolable WineBottle_bar__minus_03_dot_64_bar__plus_00_dot_07_bar__plus_06_dot_46) + (coolable Egg_bar__minus_01_dot_86_bar__plus_00_dot_96_bar__plus_01_dot_80) + (coolable Mug_bar__minus_00_dot_22_bar__plus_01_dot_33_bar__plus_03_dot_85) + (coolable Apple_bar__minus_00_dot_35_bar__plus_01_dot_12_bar__plus_03_dot_97) + (coolable Tomato_bar__minus_04_dot_23_bar__plus_00_dot_85_bar__plus_03_dot_16) + (coolable Mug_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97) + (coolable Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_36) + (coolable Egg_bar__minus_00_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_62) + (coolable Cup_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_03_dot_23) + (coolable Potato_bar__minus_00_dot_35_bar__plus_01_dot_10_bar__plus_03_dot_48) + + + + + + (sliceable Apple_bar__minus_03_dot_78_bar__plus_00_dot_12_bar__plus_06_dot_42) + (sliceable Lettuce_bar__minus_00_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_93) + (sliceable Potato_bar__minus_04_dot_24_bar__plus_00_dot_96_bar__plus_02_dot_88) + (sliceable Tomato_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__plus_05_dot_27) + (sliceable Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72) + (sliceable Egg_bar__minus_01_dot_86_bar__plus_00_dot_96_bar__plus_01_dot_80) + (sliceable Apple_bar__minus_00_dot_35_bar__plus_01_dot_12_bar__plus_03_dot_97) + (sliceable Tomato_bar__minus_04_dot_23_bar__plus_00_dot_85_bar__plus_03_dot_16) + (sliceable Egg_bar__minus_00_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_62) + (sliceable Potato_bar__minus_00_dot_35_bar__plus_01_dot_10_bar__plus_03_dot_48) + + (inReceptacle DishSponge_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__plus_05_dot_42 Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27) + (inReceptacle WineBottle_bar__minus_01_dot_86_bar__plus_00_dot_92_bar__plus_01_dot_57 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Fork_bar__minus_01_dot_69_bar__plus_00_dot_92_bar__plus_02_dot_03 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle ButterKnife_bar__minus_01_dot_94_bar__plus_00_dot_92_bar__plus_01_dot_88 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Bread_bar__minus_01_dot_61_bar__plus_01_dot_00_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Egg_bar__minus_01_dot_86_bar__plus_00_dot_96_bar__plus_01_dot_80 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle SaltShaker_bar__minus_02_dot_03_bar__plus_00_dot_92_bar__plus_01_dot_72 CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80) + (inReceptacle Lettuce_bar__minus_00_dot_49_bar__plus_01_dot_02_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Fork_bar__minus_00_dot_49_bar__plus_00_dot_93_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spoon_bar__minus_00_dot_26_bar__plus_00_dot_93_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Knife_bar__minus_00_dot_26_bar__plus_00_dot_95_bar__plus_05_dot_93 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Tomato_bar__minus_00_dot_33_bar__plus_00_dot_98_bar__plus_05_dot_27 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Egg_bar__minus_00_dot_10_bar__plus_00_dot_96_bar__plus_04_dot_62 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_04_dot_94 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Spatula_bar__minus_00_dot_18_bar__plus_00_dot_94_bar__plus_05_dot_60 CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60) + (inReceptacle Pan_bar__minus_02_dot_45_bar__plus_00_dot_93_bar__plus_02_dot_02 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_02_dot_01) + (inReceptacle PepperShaker_bar__minus_03_dot_48_bar__plus_00_dot_74_bar__plus_05_dot_10 Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Potato_bar__minus_04_dot_24_bar__plus_00_dot_96_bar__plus_02_dot_88 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Fork_bar__minus_04_dot_41_bar__plus_00_dot_92_bar__plus_05_dot_16 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle Knife_bar__minus_03_dot_86_bar__plus_00_dot_95_bar__plus_01_dot_95 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle DishSponge_bar__minus_04_dot_49_bar__plus_00_dot_92_bar__plus_05_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle PaperTowelRoll_bar__minus_04_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_42 CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94) + (inReceptacle SoapBottle_bar__minus_04_dot_17_bar__plus_00_dot_08_bar__plus_02_dot_21 Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12) + (inReceptacle PepperShaker_bar__minus_03_dot_26_bar__plus_00_dot_74_bar__plus_05_dot_10 Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16) + (inReceptacle Pot_bar__minus_02_dot_47_bar__plus_00_dot_93_bar__plus_01_dot_71 StoveBurner_bar__minus_02_dot_47_bar__plus_00_dot_92_bar__plus_01_dot_71) + (inReceptacle Mug_bar__minus_01_dot_86_bar__plus_00_dot_08_bar__plus_01_dot_97 Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09) + (inReceptacle Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56) + (inReceptacle Pencil_bar__minus_03_dot_71_bar__plus_00_dot_07_bar__plus_06_dot_29 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Apple_bar__minus_03_dot_78_bar__plus_00_dot_12_bar__plus_06_dot_42 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle WineBottle_bar__minus_03_dot_64_bar__plus_00_dot_07_bar__plus_06_dot_46 GarbageCan_bar__minus_03_dot_71_bar_00_dot_00_bar__plus_06_dot_38) + (inReceptacle Tomato_bar__minus_04_dot_23_bar__plus_00_dot_85_bar__plus_03_dot_16 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Bowl_bar__minus_04_dot_23_bar__plus_00_dot_79_bar__plus_03_dot_41 Sink_bar__minus_04_dot_19_bar__plus_00_dot_92_bar__plus_03_dot_28_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_35_bar__plus_01_dot_12_bar__plus_03_dot_97 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_24_bar__plus_01_dot_07_bar__plus_03_dot_36 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__plus_03_dot_60 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Cup_bar__minus_00_dot_26_bar__plus_01_dot_58_bar__plus_03_dot_23 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Potato_bar__minus_00_dot_35_bar__plus_01_dot_10_bar__plus_03_dot_48 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + (inReceptacle Bowl_bar__minus_00_dot_34_bar__plus_01_dot_68_bar__plus_03_dot_85 Fridge_bar__minus_00_dot_32_bar_00_dot_00_bar__plus_03_dot_60) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_03_dot_01 loc_bar__minus_2_bar_10_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_21 loc_bar__minus_5_bar_17_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_04_dot_31 loc_bar__minus_4_bar_18_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_51 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_05_dot_61 loc_bar__minus_4_bar_22_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_33_bar__plus_02_dot_25_bar__plus_06_dot_81 loc_bar__minus_4_bar_25_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_04_dot_30 loc_bar__minus_6_bar_17_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_58 loc_bar__minus_6_bar_20_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_60 loc_bar__minus_6_bar_22_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_64_bar__plus_00_dot_39_bar__plus_06_dot_88 loc_bar__minus_6_bar_25_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_54_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_9_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_58_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_4_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_11_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_04_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_13_bar_19_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_03_dot_19_bar__plus_00_dot_39_bar__plus_02_dot_09 loc_bar__minus_12_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_20_bar__plus_01_dot_93_bar__plus_01_dot_78 loc_bar__minus_13_bar_10_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_03_dot_64_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_12_bar_17_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_67_bar__plus_00_dot_39_bar__plus_05_dot_03 loc_bar__minus_13_bar_16_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_03_dot_92_bar__plus_00_dot_40_bar__plus_02_dot_09 loc_bar__minus_13_bar_12_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_12 loc_bar__minus_12_bar_10_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_02_dot_88 loc_bar__minus_12_bar_13_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_96_bar__plus_00_dot_39_bar__plus_04_dot_34 loc_bar__minus_12_bar_17_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_02_dot_89 loc_bar__minus_12_bar_13_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_03_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_66 loc_bar__minus_12_bar_12_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_04_dot_11_bar__plus_01_dot_94_bar__plus_05_dot_32 loc_bar__minus_15_bar_19_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_04_dot_28_bar__plus_01_dot_93_bar__plus_02_dot_23 loc_bar__minus_14_bar_10_bar_3_bar__minus_15) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_28_bar__plus_00_dot_91_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__plus_05_dot_60 loc_bar__minus_4_bar_20_bar_1_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_87_bar__plus_00_dot_96_bar__plus_01_dot_80 loc_bar__minus_8_bar_10_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_04_dot_26_bar__plus_00_dot_96_bar__plus_04_dot_94 loc_bar__minus_15_bar_19_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_04_dot_62 loc_bar__minus_4_bar_21_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_27 loc_bar__minus_4_bar_24_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_92 loc_bar__minus_4_bar_21_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_51_bar__plus_00_dot_78_bar__plus_06_dot_57 loc_bar__minus_4_bar_23_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_86_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_5_bar_9_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_19_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_42_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_51_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_14_bar_19_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_01_dot_96 loc_bar__minus_14_bar_10_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_03_dot_80_bar__plus_00_dot_78_bar__plus_05_dot_16 loc_bar__minus_15_bar_19_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_04_dot_09_bar__plus_00_dot_78_bar__plus_04_dot_66 loc_bar__minus_15_bar_14_bar_0_bar_30) + (receptacleAtLocation 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StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_71 loc_bar__minus_12_bar_10_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__minus_02_dot_92_bar__plus_00_dot_92_bar__plus_02_dot_01 loc_bar__minus_12_bar_10_bar_2_bar_60) + (receptacleAtLocation Toaster_bar__minus_03_dot_58_bar__plus_00_dot_91_bar__plus_01_dot_76 loc_bar__minus_14_bar_10_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_41_bar__plus_00_dot_96_bar__plus_06_dot_56 loc_bar__minus_4_bar_25_bar_1_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_18_bar__plus_00_dot_92_bar__plus_05_dot_27 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_93_bar__plus_04_dot_94 loc_bar__minus_4_bar_20_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_03_dot_26_bar__plus_00_dot_74_bar__plus_05_dot_10 loc_bar__minus_15_bar_19_bar_1_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_26_bar__plus_00_dot_92_bar__plus_05_dot_60 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"PaperTowelRoll_aa4cec24", + "position": { + "x": -4.17237, + "y": 1.0277853, + "z": 2.41670632 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_ba2c4270", + "position": { + "x": -0.258274853, + "y": 0.923959553, + "z": 5.603 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pencil_282a316d", + "position": { + "x": -3.712, + "y": 0.06899914, + "z": 6.29268551 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_94f6c891", + "position": { + "x": -2.45436978, + "y": 0.9335794, + "z": 2.0230875 + }, + "rotation": { + "x": 0.0, + "y": 240.000244, + "z": 0.0 + } + }, + { + "objectName": "Pot_04c898c4", + "position": { + "x": -2.469, + "y": 0.9303, + "z": 1.712 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c6eeef1e", + "position": { + "x": -2.02637982, + "y": 0.9198061, + "z": 1.72449732 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_56566bc4", + "position": { + "x": -4.171117, + "y": 0.0773540139, + "z": 2.20586348 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_ddab876f", + "position": { + "x": -3.26412058, + "y": 0.7432668, + "z": 5.10365248 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8b572f1d", + "position": { + "x": -0.334957659, + "y": 0.9251421, + "z": 4.944333 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a23d8e54", + "position": { + "x": -0.181592077, + "y": 0.924664259, + "z": 5.27366638 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_8612b3fc", + "position": { + "x": -0.258274853, + "y": 0.9262294, + "z": 4.615 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_19433bed", + "position": { + "x": -0.4098, + "y": 0.9556, + "z": 6.55700064 + }, + "rotation": { + "x": 0.0, + "y": 270.000153, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1872494903, + "scene_num": 13 + }, + "task_id": "trial_T20190908_153747_502285", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1O3TWBUDONVLO_32EYX73OY301K8APCXS3TG6LX5LURA", + "high_descs": [ + "Turn around and walk across the room to face the knife on the counter.", + "Pick up the knife on the counter.", + "Turn right and walk across the room and turn right to face the end of the counter to the right of the door.", + "Cut the bread on the counter into slices.", + "Turn right and walk halfway across the room, then turn left and walk forward to face the counter.", + "Put the knife on the counter.", + "Turn around and walk across the room, then turn right to face the end of the counter to the right of the door.", + "Pick up a slice of bread on the counter.", + "Walk around the right side of the end of the counter, then turn left and look up to face the microwave.", + "Heat the bread in the microwave and then remove it.", + "Turn around and walk forward and then turn left to face the knife on the counter.", + "Place the bread slice beside the knife on the counter." + ], + "task_desc": "Heat a slice of bread as well as place it on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36A780ODXBDEH_38F71OA9GWNL4A07C01NLHB8HYZMFD", + "high_descs": [ + "Turn around and move to the counter near the coffee machine.", + "Pick up the knife on the counter.", + "Turn left and go to the bread on the counter next to the door.", + "Slice the bread on the counter.", + "Turn right and move to the counter above the dishwasher.", + "Place the knife on the counter above the dishwasher.", + "Turn around and move back to the counter with the sliced bread.", + "Pick up a slice of bread.", + "Move to the microwave above the stove.", + "Heat a slice of bread in the microwave and take it back out.", + "Turn around and go to the counter above the dishwasher where the knife is.", + "Place the bread slice down next to the knife." + ], + "task_desc": "Microwave a slice of bread.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3RXCAC0YIUGCXLUYTJXMYKAPY5H8GB", + "high_descs": [ + "Go to the kitchen counter", + "Pick up the knife on the counter", + "Walk to the counter on the other side of the room", + "Cut the loaf of bread into slices", + "Walk across the kitchen to the counter", + "Place the knife on the counter", + "Go to the sliced loaf of bread", + "Pick up a slice of bread", + "Go to the microwave", + "Heat the slice of bread", + "Go to the counter where you set the knife", + "Place the slice of bread next to the knife" + ], + "task_desc": "Cut and heat a slice of bread", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040255_362263/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040255_362263/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f6d6a442960b0b6b778c950c663c1205036854bd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040255_362263/initial_state.pddl @@ -0,0 +1,998 @@ + +(define (problem plan_trial_T20190909_040255_362263) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_dot_00_bar__plus_00_dot_99 - object + Apple_bar__minus_01_dot_57_bar__plus_01_dot_58_bar__minus_01_dot_01 - object + Bowl_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54 - object + Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_70 - object + Bowl_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_00_dot_81 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + ButterKnife_bar__plus_01_dot_85_bar__plus_00_dot_91_bar__minus_01_dot_75 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_45 - object + DishSponge_bar__plus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_20 - object + Egg_bar__plus_01_dot_15_bar__plus_00_dot_97_bar__minus_01_dot_75 - object + Egg_bar__plus_01_dot_74_bar__plus_00_dot_14_bar__plus_00_dot_04 - object + Egg_bar__minus_00_dot_14_bar__plus_00_dot_82_bar__minus_01_dot_94 - 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_08 - object + Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + Fork_bar__minus_00_dot_36_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_70 - object + Knife_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__plus_00_dot_76 - object + Knife_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_01_dot_98 - object + Ladle_bar__plus_01_dot_74_bar__plus_00_dot_96_bar__minus_01_dot_45 - object + Ladle_bar__minus_00_dot_35_bar__plus_00_dot_96_bar__minus_01_dot_73 - object + Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__minus_01_dot_28_bar__plus_01_dot_01_bar__minus_01_dot_64 - object + Mug_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_01_dot_01 - object + Pan_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99 - 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_12_bar__minus_01_dot_33 - object + Plate_bar__plus_01_dot_56_bar__plus_00_dot_92_bar__minus_01_dot_21 - object + Potato_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_10 - object + Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_60 - object + Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_01_dot_45 - object + SaltShaker_bar__plus_01_dot_46_bar__plus_00_dot_88_bar__plus_02_dot_46 - object + SaltShaker_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_46 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + SoapBottle_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_73 - object + Spatula_bar__plus_00_dot_41_bar__plus_00_dot_94_bar__plus_00_dot_53 - object + Spatula_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_02_dot_12 - object + Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18 - object + Spoon_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 - object + StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 - object + Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_56 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__minus_01_dot_07_bar__plus_00_dot_91_bar__minus_02_dot_19 - 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 + 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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 + 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Ladle_bar__plus_01_dot_74_bar__plus_00_dot_96_bar__minus_01_dot_45) + (cleanable Knife_bar__plus_00_dot_12_bar__plus_00_dot_94_bar__minus_01_dot_70) + (cleanable Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50) + (cleanable Mug_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_01_dot_01) + (cleanable Apple_bar__minus_01_dot_57_bar__plus_01_dot_58_bar__minus_01_dot_01) + (cleanable Plate_bar__plus_01_dot_56_bar__plus_00_dot_92_bar__minus_01_dot_21) + (cleanable Cup_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53) + (cleanable Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_60) + (cleanable Bowl_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_00_dot_81) + (cleanable Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (cleanable Potato_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_10) + (cleanable Spatula_bar__minus_00_dot_63_bar__plus_00_dot_90_bar__minus_02_dot_18) + (cleanable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_56) + (cleanable Fork_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__minus_01_dot_98) + (cleanable Spatula_bar__minus_00_dot_06_bar__plus_00_dot_78_bar__minus_02_dot_12) + (cleanable Spatula_bar__plus_00_dot_41_bar__plus_00_dot_94_bar__plus_00_dot_53) + (cleanable DishSponge_bar__plus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_20) + (cleanable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_99) + (cleanable DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_45) + (cleanable Knife_bar__minus_00_dot_28_bar__plus_00_dot_79_bar__minus_01_dot_98) + + (heatable Egg_bar__plus_01_dot_74_bar__plus_00_dot_14_bar__plus_00_dot_04) + (heatable Egg_bar__minus_00_dot_14_bar__plus_00_dot_82_bar__minus_01_dot_94) + (heatable Mug_bar__minus_01_dot_28_bar__plus_01_dot_01_bar__minus_01_dot_64) + (heatable Egg_bar__plus_01_dot_15_bar__plus_00_dot_97_bar__minus_01_dot_75) + (heatable Mug_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_01_dot_01) + (heatable Apple_bar__minus_01_dot_57_bar__plus_01_dot_58_bar__minus_01_dot_01) + (heatable Plate_bar__plus_01_dot_56_bar__plus_00_dot_92_bar__minus_01_dot_21) + (heatable Cup_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53) + (heatable Potato_bar__minus_01_dot_38_bar__plus_01_dot_21_bar__minus_00_dot_60) + (heatable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (heatable Potato_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_10) + (heatable Tomato_bar__plus_02_dot_01_bar__plus_00_dot_97_bar__minus_01_dot_56) + (heatable Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_99) + (coolable Bowl_bar__plus_01_dot_91_bar__plus_01_dot_65_bar__minus_01_dot_54) + (coolable Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_70) + (coolable Egg_bar__plus_01_dot_74_bar__plus_00_dot_14_bar__plus_00_dot_04) + (coolable 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PepperShaker_bar__plus_01_dot_57_bar__plus_00_dot_12_bar__minus_01_dot_33 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Pan_bar__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_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_00_dot_41_bar__plus_00_dot_94_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Cup_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_00_dot_29_bar__plus_00_dot_95_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle 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loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_41_bar__plus_00_dot_94_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45) + (objectAtLocation Apple_bar__plus_00_dot_29_bar__plus_01_dot_00_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Potato_bar__plus_01_dot_74_bar__plus_00_dot_94_bar__minus_01_dot_10 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_01_dot_53_bar__plus_01_dot_50_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_01_dot_28_bar__plus_01_dot_66_bar__minus_01_dot_73 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Fork_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation 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loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_55_bar__plus_01_dot_18_bar__minus_01_dot_01 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r CounterTopType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040255_362263/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040255_362263/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a6543b40ae48efa541e8f1f809419eec7f9d27e0 --- /dev/null +++ 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"Grab a slice of bread off of the counter", + "Turn left and go to the microwave", + "Heat the bread in the microwave and then take it out", + "Turn around and go to the toaster", + "Put the bread down in front of the toaster" + ], + "task_desc": "Putting hot sliced bread on a counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A98E8M4QLI9RS_3MYYFCXHJ6YBEK7WHG79H8UKWTSG43", + "high_descs": [ + "turn to the left and move to the counter that is to the right of the stove, turn to face the counter", + "pick up the butter knife from the counter", + "turn to the left and move to the end of the kitchen island", + "slice the loaf of bread with the knife", + "turn around and move to the counter straight ahead", + "open the cabinet that is to the left of the dishwasher, put the knife in to the cabinet and close the door", + "turn around and move to the kitchen island facing the cut loaf of bread", + "pick up the end slice of bread from the island counter", + "turn around and move to the sink and then turn to the right to the microwave", + "open the microwave door, put the bread in, turn it on for three seconds, open the door and remove the bread", + "turn around and move to the counter that is to the left of the sink", + "put the slice of bread on to the counter in front of the toaster" + ], + "task_desc": "put a warm slice a bread on to the counter along with putting the knife in the cabinet", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ALZDJ7DBWN919_3L0KT67Y8H7U2WU71NPXMBHUF59SY8", + "high_descs": [ + "Walk to the plate next to the stove.", + "Pick up the knife from the counter.", + "Go to the center island.", + "Cut the loaf of bread with the knife.", + "Turn around and walk to the dishwasher.", + "Place the knife in the cabinet to the left of the dishwasher.", + "Go back to the island and the loaf of bread.", + "Grab a slice of bread.", + "Take the bread over to the microwave.", + "Cook the slice of bread in the microwave.", + "Go to the toaster on the counter.", + "Take the slice of bread and put it on the counter in front of the toaster." + ], + "task_desc": "Microwave a slice of bread from the loaf on the island.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040334_794868/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040334_794868/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7b1174cfe6de065c6db0345a96b8238b2145f733 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-CounterTop-20/trial_T20190909_040334_794868/initial_state.pddl @@ -0,0 +1,1010 @@ + +(define (problem plan_trial_T20190909_040334_794868) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object 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PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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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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_6_bar_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + 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Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_42) + (cleanable Cup_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33) + (cleanable Mug_bar__minus_01_dot_25_bar__plus_01_dot_01_bar__minus_01_dot_85) + (cleanable Spatula_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_08) + (cleanable DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_59) + (cleanable Spatula_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_22) + (cleanable Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_00) + (cleanable Ladle_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_01_dot_45) + + (heatable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_99) + (heatable Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_39) + (heatable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_53) + (heatable Potato_bar__minus_01_dot_61_bar__plus_01_dot_21_bar__minus_00_dot_60) + (heatable Potato_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_02_dot_12) + (heatable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92) + (heatable Apple_bar__plus_01_dot_74_bar__plus_00_dot_98_bar__minus_01_dot_56) + (heatable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_67) + (heatable Cup_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_68) + (heatable Cup_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_48) + (heatable Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_81) + (heatable Egg_bar__minus_01_dot_50_bar__plus_01_dot_24_bar__minus_00_dot_50) + (heatable Tomato_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_91) + (heatable Cup_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33) + (heatable Mug_bar__minus_01_dot_25_bar__plus_01_dot_01_bar__minus_01_dot_85) + (coolable Bowl_bar__plus_00_dot_41_bar__plus_00_dot_92_bar__plus_00_dot_53) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_99) + (coolable Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_39) + (coolable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_53) + (coolable Potato_bar__minus_01_dot_61_bar__plus_01_dot_21_bar__minus_00_dot_60) + (coolable Potato_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_02_dot_12) + (coolable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92) + (coolable Apple_bar__plus_01_dot_74_bar__plus_00_dot_98_bar__minus_01_dot_56) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (coolable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_67) + (coolable Cup_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_68) + (coolable Cup_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_48) + (coolable Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53) + (coolable Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54) + (coolable Bowl_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_46) + (coolable Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_81) + (coolable Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50) + (coolable Egg_bar__minus_01_dot_50_bar__plus_01_dot_24_bar__minus_00_dot_50) + (coolable WineBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99) + (coolable Tomato_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_91) + (coolable Cup_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33) + (coolable Mug_bar__minus_01_dot_25_bar__plus_01_dot_01_bar__minus_01_dot_85) + + + + + + (sliceable Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_99) + (sliceable Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_53) + (sliceable Potato_bar__minus_01_dot_61_bar__plus_01_dot_21_bar__minus_00_dot_60) + (sliceable Potato_bar__minus_00_dot_14_bar__plus_00_dot_79_bar__minus_02_dot_12) + (sliceable Apple_bar__plus_01_dot_74_bar__plus_00_dot_98_bar__minus_01_dot_56) + (sliceable Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54) + (sliceable Egg_bar__minus_01_dot_50_bar__plus_01_dot_24_bar__minus_00_dot_50) + (sliceable Tomato_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_91) + + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle SaltShaker_bar__plus_00_dot_56_bar__plus_01_dot_66_bar__minus_02_dot_05 Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Bowl_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_46 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Spoon_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_52_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_48_bar__plus_00_dot_95_bar__plus_01_dot_42 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_07_bar__plus_00_dot_98_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_41_bar__plus_00_dot_92_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bread_bar__minus_00_dot_05_bar__plus_00_dot_97_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle DishSponge_bar__minus_00_dot_05_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 Egg_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__plus_01_dot_65_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Apple_bar__plus_01_dot_74_bar__plus_00_dot_98_bar__minus_01_dot_56 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Cup_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_33 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_19 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Cup_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle PepperShaker_bar__minus_00_dot_56_bar__plus_00_dot_91_bar__minus_02_dot_13 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spatula_bar__plus_01_dot_15_bar__plus_00_dot_93_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__minus_00_dot_67_bar__plus_00_dot_91_bar__minus_02_dot_20 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_26_bar__plus_00_dot_55_bar__plus_02_dot_38 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Cup_bar__plus_01_dot_57_bar__plus_00_dot_55_bar__plus_02_dot_48 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle DishSponge_bar__plus_01_dot_46_bar__plus_00_dot_55_bar__plus_02_dot_59 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Mug_bar__minus_01_dot_25_bar__plus_01_dot_01_bar__minus_01_dot_85 Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68) + (inReceptacle Plate_bar__minus_01_dot_44_bar__plus_01_dot_19_bar__minus_00_dot_81 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Egg_bar__minus_01_dot_50_bar__plus_01_dot_24_bar__minus_00_dot_50 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Tomato_bar__minus_01_dot_55_bar__plus_00_dot_91_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Mug_bar__minus_01_dot_50_bar__plus_01_dot_18_bar__minus_00_dot_39 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Lettuce_bar__minus_01_dot_43_bar__plus_00_dot_93_bar__minus_00_dot_54 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Potato_bar__minus_01_dot_61_bar__plus_01_dot_21_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Potato_bar__minus_00_dot_14_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 ButterKnife_bar__minus_00_dot_28_bar__plus_00_dot_76_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_06_bar__plus_00_dot_79_bar__minus_01_dot_98 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__plus_00_dot_01_bar__plus_00_dot_79_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (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_47_bar__minus_01_dot_69 loc_bar_3_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_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (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_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar__minus_1_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_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_4_bar_2_bar__minus_15) + (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_83 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation 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loc_bar_6_bar_8_bar_0_bar_60) + (receptacleAtLocation Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 loc_bar_4_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_25_bar__plus_01_dot_01_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_5_bar_3_bar_30) + (objectAtLocation 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"Ladle_bd8f96dd", + "position": { + "x": 0.4816544, + "y": 0.9475443, + "z": 1.42037308 + }, + "rotation": { + "x": 359.141663, + "y": 0.124131724, + "z": 346.7721 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": -0.0470661819, + "y": 0.9720779, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": -1.429, + "y": 0.9252, + "z": -0.542 + }, + "rotation": { + "x": 0.0, + "y": 315.0001, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_620f4eaa", + "position": { + "x": 0.522321761, + "y": 0.9278612, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": 0.06681141, + "y": 0.9456444, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": 1.90938616, + "y": 1.66104913, + "z": -1.67331362 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": 0.563184, + "y": 1.65527225, + "z": -2.05017567 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": -0.117, + "y": 0.921, + "z": 1.5 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": 1.56653309, + "y": 0.553277135, + "z": 2.4829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": -0.5647562, + "y": 0.909806132, + "z": -2.13435817 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.5675, + "y": 0.948799968, + "z": -0.7576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": -0.283820421, + "y": 0.764498234, + "z": -2.0264 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": -1.55301178, + "y": 0.9112541, + "z": -0.9100086 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.25543284, + "y": 0.5526228, + "z": 2.37935257 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -0.160943776, + "y": 0.980486035, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.294566572, + "y": 0.9317739, + "z": 0.99143815 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": -0.06476809, + "y": 0.78753674, + "z": -1.98148525 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": -1.25216794, + "y": 1.01045275, + "z": -1.8466866 + }, + "rotation": { + "x": 0.0, + "y": 89.99989, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2711195861, + "scene_num": 20 + }, + "task_id": "trial_T20190909_040334_794868", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3OYZK65C2G39N_3AAJC4I4FJJ18JLMAFI28HZ9PGHJZR", + "high_descs": [ + "turn and walk to the counter that is to the right of the stove ", + "Pick up the knife that is on the counter ", + "Turn and walk to the counter that has a loaf of bread on it ", + "Slice the bread that is on the counter ", + "Turn and walk to the microwave ", + "Put the knife into the microwave ", + "Turn and walk to the counter with the bread ", + "Pick up a slice of bread that is on the counter ", + "Turn and walk to the microwave ", + "Put the bread into the microwave ", + "Take the bread out of the microwave ", + "Walk to the counter with the toaster put the bread in front of the toaster " + ], + "task_desc": "Put a hot piece of bread on the counter by the toaster ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "ANBWJZYU2A68T_3IX2EGZR7EAS6SZV0YOPMEXAGYQJRO", + "high_descs": [ + "Turn to your right, go to the kitchen counter to the right of the stove", + "Pick up the butter knife from the counter", + "Turn around and go to the other side of the kitchen island", + "Cut the bread on the island into slices", + "Take the knife and go to the microwave", + "Put the knife inside the microwave", + "Go back to the kitchen island with the sliced bread", + "Pick up a slice of the bread", + "Go back to the microwave", + "Put the bread slice inside the microwave, heat it for a few seconds, and take it out", + "Turn left, move past the sink, and turn right to face the counter with a toaster", + "Put the bread slice on the counter in front of the toaster" + ], + "task_desc": "Place a heated slice of bread on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3X66WABAJZ9QWOOSH22Q732EIUJ3GU", + "high_descs": [ + "Go to the counter to the right of the stove.", + "Pick up the butter knife on the counter.", + "Go to the fridge and hang a right to the island.", + "Slice the bread on the island.", + "Go to the microwave to the left of the fridge.", + "Put the knife in the microwave.", + "Turn right and go back to the island.", + "Pick up a slice of bread.", + "Take the slice to the microwave.", + "Heat the slice of bread in the microwave.", + "Go to the counter in front of the toaster.", + "Set the hot bread down on the counter in front of the toaster." + ], + "task_desc": "Put a heated slice of bread on the counter in front of the toaster.", + "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-GarbageCan-16/trial_T20190907_232412_371318/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232412_371318/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0a0711facb36932cab66d2ca51e486ecaf20a359 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232412_371318/initial_state.pddl @@ -0,0 +1,1489 @@ + +(define (problem plan_trial_T20190907_232412_371318) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_53_bar__plus_00_dot_81_bar__plus_04_dot_50 - object + Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18 - object + Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34 - object + Bowl_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 - object + Bowl_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_54 - object + Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_97 - object + Bread_bar__plus_02_dot_79_bar__plus_00_dot_83_bar__plus_03_dot_53 - object + Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_30 - object + ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + ButterKnife_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_70 - object + ButterKnife_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_50 - object + Cup_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60 - object + DishSponge_bar__minus_00_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_95 - object + Egg_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__minus_01_dot_88 - object + Egg_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__plus_03_dot_58 - object + Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_10 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_48_bar__plus_01_dot_03_bar__plus_01_dot_65 - object + Fork_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_78 - object + Fork_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_94 - object + Glassbottle_bar__plus_02_dot_61_bar__plus_01_dot_78_bar__minus_01_dot_91 - object + Glassbottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 - object + Glassbottle_bar__minus_00_dot_99_bar__plus_00_dot_79_bar__minus_00_dot_74 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_02_dot_19 - object + Ladle_bar__plus_02_dot_45_bar__plus_00_dot_80_bar__plus_03_dot_97 - object + Ladle_bar__plus_02_dot_58_bar__plus_01_dot_07_bar__plus_00_dot_91 - object + Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_01_dot_46 - object + Lettuce_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_42 - object + Lettuce_bar__plus_02_dot_63_bar__plus_00_dot_82_bar__plus_04_dot_19 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 - object + Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 - object + PaperTowelRoll_bar__plus_02_dot_96_bar__plus_01_dot_13_bar__minus_01_dot_46 - object + PepperShaker_bar__plus_01_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_55 - object + PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 - object + Plate_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 - object + Plate_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_74 - object + Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 - object + Potato_bar__minus_00_dot_95_bar__plus_00_dot_83_bar__minus_00_dot_18 - object + Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pot_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_03_dot_97 - object + Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + SaltShaker_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_00_dot_61 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_32 - object + SoapBottle_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 - object + Spatula_bar__plus_02_dot_54_bar__plus_00_dot_81_bar__minus_00_dot_79 - object + Spatula_bar__plus_02_dot_88_bar__plus_01_dot_04_bar__minus_00_dot_54 - object + Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_01_dot_35_bar__plus_01_dot_08_bar__minus_01_dot_56 - object + Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 - object + Tomato_bar__minus_00_dot_92_bar__plus_00_dot_13_bar__plus_02_dot_84 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_02_dot_79_bar__plus_01_dot_03_bar__minus_01_dot_15 - object + WineBottle_bar__minus_00_dot_45_bar__plus_00_dot_05_bar__plus_00_dot_79 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 - receptacle + Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 - receptacle + Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 - receptacle + Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 - receptacle + Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 - receptacle + Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 - 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loc_bar_0_bar_3_bar_3_bar__minus_30 - location + loc_bar_9_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_7_bar__minus_2_bar_2_bar__minus_30 - location + loc_bar_0_bar_10_bar_3_bar__minus_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar_45 - location + loc_bar_8_bar__minus_1_bar_0_bar_45 - location + loc_bar_8_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar__minus_30 - location + loc_bar_7_bar_3_bar_0_bar_60 - location + loc_bar_7_bar__minus_2_bar_2_bar_60 - location + loc_bar_4_bar_3_bar_0_bar_45 - location + loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar__minus_4_bar_14_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62 DrawerType) + (receptacleType DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 DiningTableType) + (receptacleType Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 GarbageCanType) + (receptacleType Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 ToasterType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 DrawerType) + (receptacleType CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 CabinetType) + (receptacleType Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 MicrowaveType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType) + (receptacleType Drawer_bar__plus_02_dot_23_bar__plus_00_dot_83_bar__plus_01_dot_04 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 CabinetType) + (receptacleType Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_01_dot_13 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__plus_00_dot_16 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 DrawerType) + (receptacleType CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 CoffeeMachineType) + (receptacleType Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 StoveBurnerType) + (receptacleType Drawer_bar__plus_02_dot_52_bar__plus_00_dot_83_bar__plus_00_dot_72 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 CabinetType) + (receptacleType Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin SinkBasinType) + (receptacleType 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Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34) + (sliceable Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_30) + + (inReceptacleObject Fork_bar__plus_02_dot_48_bar__plus_01_dot_03_bar__plus_01_dot_65 Plate_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55) + (inReceptacle Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle Spatula_bar__plus_02_dot_88_bar__plus_01_dot_04_bar__minus_00_dot_54 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_02_dot_37_bar__plus_01_dot_03_bar__plus_01_dot_55 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle PaperTowelRoll_bar__plus_02_dot_96_bar__plus_01_dot_13_bar__minus_01_dot_46 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Glassbottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_54 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Egg_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__minus_01_dot_88 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__plus_01_dot_35_bar__plus_01_dot_08_bar__minus_01_dot_56 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_58_bar__plus_01_dot_07_bar__plus_00_dot_91 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_02_dot_48_bar__plus_01_dot_03_bar__plus_01_dot_65 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_01_dot_46 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_02_dot_79_bar__plus_01_dot_03_bar__minus_01_dot_15 CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_02_dot_45_bar__plus_00_dot_80_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Egg_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__plus_03_dot_58 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_63_bar__plus_00_dot_82_bar__plus_04_dot_19 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bowl_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Lettuce_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_03_dot_42 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Cup_bar__plus_02_dot_30_bar__plus_00_dot_76_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Pot_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_03_dot_97 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Bread_bar__plus_02_dot_79_bar__plus_00_dot_83_bar__plus_03_dot_53 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Apple_bar__plus_02_dot_53_bar__plus_00_dot_81_bar__plus_04_dot_50 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle SoapBottle_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_32 DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98) + (inReceptacle Fork_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_78 Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_00_dot_62) + (inReceptacle Spoon_bar__minus_01_dot_17_bar__plus_01_dot_03_bar__plus_02_dot_56 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Cup_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Knife_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_02_dot_19 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle SoapBottle_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Fork_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_94 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19) + (inReceptacle Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84) + (inReceptacle PepperShaker_bar__plus_01_dot_30_bar__plus_00_dot_79_bar__minus_01_dot_55 Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54) + (inReceptacle ButterKnife_bar__plus_02_dot_71_bar__plus_00_dot_80_bar__minus_00_dot_70 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle SaltShaker_bar__plus_02_dot_87_bar__plus_00_dot_80_bar__minus_00_dot_61 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle Spatula_bar__plus_02_dot_54_bar__plus_00_dot_81_bar__minus_00_dot_79 Drawer_bar__plus_02_dot_69_bar__plus_00_dot_83_bar__minus_00_dot_70) + (inReceptacle DishSponge_bar__minus_00_dot_80_bar__plus_00_dot_05_bar__plus_01_dot_95 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71) + (inReceptacle WineBottle_bar__minus_00_dot_45_bar__plus_00_dot_05_bar__plus_00_dot_79 Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27) + (inReceptacle Glassbottle_bar__plus_02_dot_61_bar__plus_01_dot_78_bar__minus_01_dot_91 Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71) + (inReceptacle Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_30 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Potato_bar__minus_00_dot_95_bar__plus_00_dot_83_bar__minus_00_dot_18 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Plate_bar__minus_01_dot_01_bar__plus_01_dot_44_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Glassbottle_bar__minus_00_dot_99_bar__plus_00_dot_79_bar__minus_00_dot_74 Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41) + (inReceptacle Mug_bar__minus_00_dot_80_bar__plus_01_dot_07_bar__plus_00_dot_65 CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65) + (inReceptacle Tomato_bar__minus_00_dot_92_bar__plus_00_dot_13_bar__plus_02_dot_84 GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83) + (inReceptacle Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_10 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + (inReceptacle Apple_bar__minus_00_dot_65_bar__plus_00_dot_87_bar__plus_01_dot_18 Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 loc_bar_7_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_4_bar__minus_3_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 loc_bar_4_bar_7_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_9_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 loc_bar_7_bar_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 loc_bar_7_bar__minus_2_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 loc_bar_8_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_48 loc_bar_6_bar_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 loc_bar_6_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_01_dot_34 loc_bar_6_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_47_bar__plus_00_dot_37 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_73_bar__plus_02_dot_23_bar__minus_01_dot_71 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__plus_00_dot_02 loc_bar_7_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_83 loc_bar_8_bar__minus_2_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_75_bar__plus_02_dot_22_bar__minus_01_dot_69 loc_bar_8_bar__minus_4_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_00_dot_27 loc_bar_2_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 loc_bar_2_bar_6_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 loc_bar_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_23_bar__plus_00_dot_59 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__plus_00_dot_16 loc_bar_0_bar_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_66_bar__plus_02_dot_50_bar__minus_00_dot_87 loc_bar__minus_3_bar__minus_6_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_00_dot_62 loc_bar_0_bar_3_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_60 loc_bar_0_bar_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_01_dot_62 loc_bar_0_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_02_dot_22_bar__plus_02_dot_61 loc_bar_0_bar_10_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__minus_00_dot_94_bar__plus_01_dot_02_bar__plus_00_dot_65 loc_bar_0_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_81_bar__plus_00_dot_99_bar__plus_00_dot_68 loc_bar_9_bar__minus_2_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_81_bar__plus_01_dot_06_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (receptacleAtLocation DiningTable_bar__plus_02_dot_45_bar__plus_00_dot_67_bar__plus_03_dot_98 loc_bar_10_bar_12_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_35_bar__plus_00_dot_84_bar__minus_01_dot_54 loc_bar_3_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 loc_bar_4_bar_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 loc_bar_4_bar_4_bar_1_bar_45) + (receptacleAtLocation 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Drawer_bar__minus_00_dot_64_bar__plus_00_dot_83_bar__plus_02_dot_42 loc_bar_2_bar_11_bar_3_bar_30) + (receptacleAtLocation Fridge_bar__minus_00_dot_91_bar__plus_00_dot_00_bar__minus_00_dot_41 loc_bar_0_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_95_bar_00_dot_00_bar__plus_02_dot_83 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__plus_01_dot_94_bar__plus_01_dot_75_bar__minus_01_dot_83 loc_bar_8_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33_bar_SinkBasin loc_bar_0_bar_6_bar_3_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_76_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_8_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_84_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_12_bar__plus_01_dot_02_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (receptacleAtLocation StoveBurner_bar__plus_02_dot_18_bar__plus_01_dot_02_bar__minus_01_dot_60 loc_bar_9_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Toaster_bar__minus_01_dot_01_bar__plus_01_dot_02_bar__plus_02_dot_24 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Bowl_bar__plus_02_dot_32_bar__plus_00_dot_76_bar__plus_03_dot_84 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_42_bar__plus_01_dot_03_bar__plus_00_dot_60 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Bread_bar__minus_00_dot_97_bar__plus_01_dot_51_bar__minus_00_dot_30 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_49 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation PepperShaker_bar__plus_02_dot_80_bar__plus_00_dot_76_bar__plus_04_dot_19 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Apple_bar__plus_02_dot_53_bar__plus_00_dot_81_bar__plus_04_dot_50 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loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Fork_bar__plus_02_dot_48_bar__plus_01_dot_03_bar__plus_01_dot_65 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Egg_bar__minus_00_dot_85_bar__plus_00_dot_86_bar__plus_01_dot_10 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation SoapBottle_bar__plus_02_dot_67_bar__plus_00_dot_76_bar__plus_04_dot_32 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Glassbottle_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__plus_00_dot_07 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Apple_bar__minus_00_dot_85_bar__plus_00_dot_87_bar__plus_01_dot_34 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Bread_bar__plus_02_dot_60_bar__plus_00_dot_83_bar__plus_03_dot_97 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_58_bar__plus_00_dot_87_bar__plus_01_dot_41 loc_bar_0_bar_6_bar_3_bar_45) + (objectAtLocation Egg_bar__plus_02_dot_06_bar__plus_00_dot_81_bar__plus_03_dot_58 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_78 loc_bar_2_bar_2_bar_3_bar_30) + (objectAtLocation Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (objectAtLocation Glassbottle_bar__plus_02_dot_61_bar__plus_01_dot_78_bar__minus_01_dot_91 loc_bar_9_bar__minus_4_bar_2_bar__minus_30) + (objectAtLocation ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 loc_bar_10_bar_12_bar_0_bar_45) + (objectAtLocation Ladle_bar__plus_02_dot_58_bar__plus_01_dot_07_bar__plus_00_dot_91 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 loc_bar_0_bar_5_bar_3_bar_45) + (objectAtLocation Pan_bar__plus_02_dot_04_bar__plus_01_dot_02_bar__plus_01_dot_78 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Glassbottle_bar__minus_00_dot_99_bar__plus_00_dot_79_bar__minus_00_dot_74 loc_bar_0_bar__minus_1_bar_3_bar_60) + (objectAtLocation Knife_bar__minus_00_dot_67_bar__plus_01_dot_05_bar__plus_02_dot_19 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation SoapBottle_bar__minus_01_dot_05_bar__plus_01_dot_03_bar__plus_01_dot_94 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Egg_bar__plus_01_dot_35_bar__plus_01_dot_07_bar__minus_01_dot_88 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 loc_bar_8_bar__minus_4_bar_2_bar_45) + (objectAtLocation Fork_bar__minus_00_dot_67_bar__plus_01_dot_03_bar__plus_01_dot_94 loc_bar_0_bar_9_bar_3_bar_30) + (objectAtLocation Potato_bar__plus_01_dot_23_bar__plus_01_dot_07_bar__minus_01_dot_56 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Ladle_bar__plus_02_dot_79_bar__plus_01_dot_07_bar__minus_01_dot_46 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation Tomato_bar__minus_00_dot_92_bar__plus_00_dot_13_bar__plus_02_dot_84 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 loc_bar_8_bar__minus_4_bar_2_bar_30) + (objectAtLocation Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 loc_bar_6_bar_15_bar_0_bar_0) + (objectAtLocation WineBottle_bar__minus_00_dot_45_bar__plus_00_dot_05_bar__plus_00_dot_79 loc_bar_2_bar_4_bar_3_bar_60) + (objectAtLocation HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 loc_bar_9_bar__minus_2_bar_0_bar_30) + (objectAtLocation 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2.62599969, + "y": 0.822627544, + "z": 4.19265652 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.6459911, + "y": 0.86690855, + "z": 1.1816839 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": -0.851217866, + "y": 0.86690855, + "z": 1.33710945 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_c7f7c9bb", + "position": { + "x": 2.04230833, + "y": 1.017125, + "z": 1.77973437 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Glassbottle_105a13ed", + "position": { + "x": 2.70621943, + "y": 1.02759016, + "z": 0.06884211 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_2539b087", + "position": { + "x": -0.6696348, + "y": 1.05284965, + "z": 2.189 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_a47378fd", + "position": { + "x": 2.67365623, + "y": 0.7631421, + "z": 4.32 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_6cf51d94", + "position": { + "x": -0.851217866, + "y": 0.8605643, + "z": 1.10397124 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_8af67485", + "position": { + "x": 2.475812, + "y": 1.027422, + "z": 1.648444 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Potato_a189bfca", + "position": { + "x": -0.9474034, + "y": 0.8282191, + "z": -0.184049949 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Ladle_8232b75a", + "position": { + "x": 2.451, + "y": 0.803637862, + "z": 3.97 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_6be5e93d", + "position": { + "x": 1.35014892, + "y": 1.08056533, + "z": -1.56086946 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Pot_267fd2ad", + "position": { + "x": 1.92599988, + "y": 0.76753366, + "z": 3.96999955 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_ca02bbc4", + "position": { + "x": 2.79063821, + "y": 1.02780211, + "z": -1.151727 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_1895c9f9", + "position": { + "x": 2.37079453, + "y": 1.02736247, + "z": 1.55051351 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Spatula_87bb090b", + "position": { + "x": 2.53742075, + "y": 0.814982653, + "z": -0.792470157 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_758d0bf4", + "position": { + "x": 2.95947552, + "y": 1.13115883, + "z": -1.45686913 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_2bc5be8e", + "position": { + "x": 2.59795761, + "y": 0.822627544, + "z": 3.41858864 + }, + "rotation": { + "x": 0.0, + "y": 329.9999, + "z": 0.0 + } + }, + { + "objectName": "Apple_dc079739", + "position": { + "x": 2.52521873, + "y": 0.814822733, + "z": 4.495 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_c2d3cb7a", + "position": { + "x": 2.87414265, + "y": 0.796931446, + "z": -0.607018054 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_26395c85", + "position": { + "x": 2.80099964, + "y": 0.7607765, + "z": 4.19265652 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_98253f2a", + "position": { + "x": -0.714399934, + "y": 0.816598237, + "z": 1.49253488 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": -0.968222141, + "y": 1.510216, + "z": -0.295025021 + }, + "rotation": { + "x": 0.0, + "y": 89.99984, + "z": 0.0 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.4189102, + "y": 1.02608967, + "z": 0.600607157 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": -0.8035485, + "y": 0.0457288623, + "z": 1.95434976 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.32112479, + "y": 0.7629045, + "z": 3.84012485 + }, + "rotation": { + "x": 0.0, + "y": 224.999969, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -1.17108631, + "y": 1.0286293, + "z": 2.55691051 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": -0.8038, + "y": 1.07065928, + "z": 0.646000445 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 124562843, + "scene_num": 16 + }, + "task_id": "trial_T20190907_232412_371318", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3HL2LL0LEPZT8_35L9RVQFCRZGAPAOKKRSEQKDGGIHU2", + "high_descs": [ + "Turn right, go forward a step, turn right, go forward, turn right at the sink.", + "Take the knife from the sink.", + "Turn right, go past the end of the counter, turn right, go towards the wall, turn left at the round white table. Go to the table.", + "Cut the bread to the right of the large spoon into slices.", + "Put the knife on the table to the left of the lettuce.", + "Take a slice of bread from the table.", + "Turn left, go forward, after the end of the counter on the left turn left, go forward and to the left to the oven.", + "Heat the bread in the microwave above the oven. Take the bread from the microwave.", + "Turn right, go forward, at the end of the counter on the left turn right, go forward, turn left after passing the end of the counter on the left, go forward to the wall, turn left to face the bin.", + "Put the bread in the bin." + ], + "task_desc": "Put a hot slice of bread in a bin.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3SOZYQZWJOOYS_3QBD8R3Z240RL82W9RV0LVJKTP14OJ", + "high_descs": [ + "Turn around and head towards the sink, then turn and face the sink.", + "Pick up knife out of sink.", + "Turn around and head towards the wall, then turn to left and face the table.", + "Cut the top loaf of bread into slices.", + "Put knife down on table.", + "Pick up a slice of bread.", + "Turn to your left and head towards the counters, then turn left and head towards the stove and face the microwave.", + "Open the microwave, put the slice of bread in the microwave, close door, cook the bread for a bit, then take out the bread and close the door.", + "Turn around and head towards the wall, then turn left and head towards the wall, then turn left again and face the trash can.", + "Place the slice of bread in the trash can." + ], + "task_desc": "Place a cooked slice of bread in the trash.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3LKC68YZ3DK3UALGJX1JGN2BDIZOWO", + "high_descs": [ + "Turn right, hang a right at the edge of the counter and face the sink on the right.", + "Pick up the spoon in the sink.", + "Turn right, hang a right at the edge of the counter and turn left at the wall to face the white table.", + "Slice the loaf of bread to the right of the spoon on the table.", + "Place the knife on the head of lettuce to the left of the loaf of bread.", + "Pick up a slice of bread from the loaf to the right of the spoon.", + "Turn left, hang a left around the angle of the counter, walk to the counter and walk to the right to reach the stove.", + "Put the bread inside the microwave above the stove in the middle, heat it for a few seconds, remove it and close the door.", + "Turn right, head right at the end of the counter, turn left at the white table and turn left to face the gray container on the floor.", + "Put the bread inside the gray container behind the tomato." + ], + "task_desc": "Place a heated slice of bread in a container.", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..63730b7d0745553af9e7474153d79d07a0abdde6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/initial_state.pddl @@ -0,0 +1,1398 @@ + +(define (problem plan_trial_T20190907_232534_297377) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_96_bar__plus_01_dot_08_bar__minus_01_dot_46 - object + Apple_bar__minus_00_dot_95_bar__plus_00_dot_84_bar__minus_00_dot_07 - object + Bowl_bar__plus_02_dot_17_bar__plus_02_dot_28_bar__minus_01_dot_87 - object + Bread_bar__plus_02_dot_74_bar__plus_01_dot_09_bar__plus_00_dot_06 - object + ButterKnife_bar__plus_01_dot_93_bar__plus_00_dot_76_bar__plus_03_dot_82 - object + ButterKnife_bar__minus_00_dot_71_bar__plus_00_dot_82_bar__plus_01_dot_41 - object + Chair_bar__plus_01_dot_70_bar__plus_00_dot_00_bar__plus_04_dot_35 - object + Cup_bar__plus_02_dot_71_bar__plus_01_dot_03_bar__minus_00_dot_54 - object + Cup_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_18 - object + DishSponge_bar__plus_02_dot_72_bar__plus_01_dot_03_bar__plus_01_dot_60 - object + Egg_bar__plus_01_dot_29_bar__plus_01_dot_07_bar__minus_01_dot_67 - object + Egg_bar__plus_01_dot_53_bar__plus_01_dot_07_bar__minus_01_dot_88 - object + Faucet_bar__minus_01_dot_12_bar__plus_01_dot_01_bar__plus_01_dot_33 - object + Fork_bar__plus_02_dot_63_bar__plus_00_dot_77_bar__plus_04_dot_12 - object + Fork_bar__plus_02_dot_71_bar__plus_00_dot_77_bar__plus_04_dot_23 - object + Fork_bar__plus_02_dot_98_bar__plus_00_dot_77_bar__plus_04_dot_12 - object + Glassbottle_bar__plus_02_dot_56_bar__plus_00_dot_77_bar__plus_03_dot_87 - object + HousePlant_bar__plus_02_dot_17_bar__plus_01_dot_02_bar__plus_02_dot_09 - object + HousePlant_bar__plus_02_dot_52_bar__plus_01_dot_02_bar__plus_01_dot_82 - object + Knife_bar__minus_00_dot_71_bar__plus_00_dot_84_bar__plus_01_dot_10 - object + Ladle_bar__plus_01_dot_29_bar__plus_01_dot_07_bar__minus_01_dot_88 - object + Ladle_bar__plus_02_dot_71_bar__plus_01_dot_07_bar__minus_01_dot_15 - object + Lettuce_bar__plus_02_dot_45_bar__plus_00_dot_82_bar__plus_04_dot_04 - object + Lettuce_bar__plus_02_dot_60_bar__plus_00_dot_82_bar__plus_04_dot_50 - object + Lettuce_bar__minus_00_dot_92_bar__plus_01_dot_50_bar__minus_00_dot_63 - object + LightSwitch_bar__minus_00_dot_10_bar__plus_01_dot_41_bar__minus_02_dot_07 - object + Mug_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 - object + Pan_bar__plus_01_dot_84_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + Pan_bar__plus_02_dot_62_bar__plus_01_dot_03_bar__minus_00_dot_85 - object + PaperTowelRoll_bar__plus_02_dot_92_bar__plus_00_dot_87_bar__plus_03_dot_60 - object + PepperShaker_bar__plus_02_dot_33_bar__plus_00_dot_76_bar__plus_04_dot_33 - object + Plate_bar__plus_02_dot_22_bar__plus_00_dot_76_bar__plus_03_dot_95 - object + Plate_bar__plus_02_dot_88_bar__plus_01_dot_03_bar__minus_00_dot_24 - object + Potato_bar__minus_00_dot_58_bar__plus_00_dot_86_bar__plus_01_dot_34 - object + Pot_bar__plus_02_dot_12_bar__plus_01_dot_03_bar__minus_01_dot_84 - object + SaltShaker_bar__plus_01_dot_41_bar__plus_01_dot_02_bar__minus_01_dot_88 - object + Sink_bar__minus_00_dot_72_bar__plus_01_dot_02_bar__plus_01_dot_33 - object + SoapBottle_bar__plus_01_dot_41_bar__plus_01_dot_03_bar__minus_01_dot_99 - object + SoapBottle_bar__plus_02_dot_55_bar__plus_00_dot_76_bar__plus_04_dot_24 - object + Spatula_bar__minus_00_dot_67_bar__plus_01_dot_04_bar__plus_02_dot_43 - object + Spoon_bar__plus_02_dot_76_bar__plus_00_dot_80_bar__minus_00_dot_31 - object + Spoon_bar__minus_00_dot_85_bar__plus_00_dot_82_bar__plus_01_dot_49 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_01_dot_93_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_51 - object + StoveKnob_bar__plus_02_dot_02_bar__plus_01_dot_04_bar__minus_01_dot_59 - object + Tomato_bar__plus_02_dot_01_bar__plus_00_dot_82_bar__plus_03_dot_63 - object + Window_bar__plus_01_dot_76_bar__plus_01_dot_61_bar__plus_04_dot_76 - object + WineBottle_bar__plus_01_dot_93_bar__plus_00_dot_77_bar__plus_03_dot_75 - object + WineBottle_bar__plus_02_dot_70_bar__plus_00_dot_77_bar__plus_03_dot_69 - object + WineBottle_bar__minus_00_dot_63_bar__plus_00_dot_05_bar__plus_02_dot_47 - object + Cabinet_bar__plus_01_dot_14_bar__plus_00_dot_39_bar__minus_01_dot_36 - receptacle + Cabinet_bar__plus_01_dot_14_bar__plus_02_dot_23_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_31_bar__plus_00_dot_47_bar__plus_01_dot_64 - receptacle + Cabinet_bar__plus_01_dot_50_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + Cabinet_bar__plus_01_dot_88_bar__plus_00_dot_38_bar__plus_01_dot_02 - receptacle + Cabinet_bar__plus_01_dot_89_bar__plus_00_dot_38_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_39_bar__plus_02_dot_48_bar__minus_01_dot_71 - receptacle + 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loc_bar_0_bar__minus_1_bar_3_bar_60 - location + loc_bar_6_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_2_bar_30 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_2_bar_9_bar_3_bar_30 - location + loc_bar_7_bar__minus_2_bar_1_bar__minus_30 - location + loc_bar_7_bar__minus_3_bar_1_bar__minus_30 - location + loc_bar_2_bar_2_bar_3_bar_30 - location + loc_bar_2_bar_8_bar_3_bar_60 - location + loc_bar_8_bar_2_bar_1_bar_60 - location + loc_bar_9_bar__minus_4_bar_2_bar__minus_30 - location + loc_bar_0_bar_5_bar_3_bar_45 - location + loc_bar_0_bar_7_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_4_bar_1_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_30 - location + loc_bar_4_bar_7_bar_1_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar__minus_30 - location + loc_bar_0_bar_3_bar_3_bar_30 - location + loc_bar_2_bar_4_bar_3_bar_60 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar_8_bar__minus_4_bar_2_bar_45 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_7_bar__minus_3_bar_1_bar_45 - location + loc_bar_6_bar_15_bar_0_bar_60 - location + loc_bar_0_bar_9_bar_3_bar_30 - location + loc_bar_4_bar_4_bar_1_bar_45 - location + loc_bar_6_bar_1_bar_1_bar_60 - location + loc_bar_1_bar_2_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__plus_00_dot_38 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_94_bar__plus_00_dot_83_bar__plus_01_dot_35 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_01_dot_71 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_47_bar__plus_00_dot_38_bar__minus_00_dot_49 CabinetType) + (receptacleType Drawer_bar__plus_01_dot_65_bar__plus_00_dot_83_bar__plus_01_dot_67 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_36_bar__plus_00_dot_38_bar__plus_02_dot_63 CabinetType) + (receptacleType 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loc_bar_7_bar_0_bar_1_bar_45) + (objectAtLocation Mug_bar__plus_02_dot_98_bar__plus_00_dot_76_bar__plus_03_dot_90 loc_bar_10_bar_12_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (sliceable ?o) + (isSliced ?o) + (heatable ?o) + (objectType ?o BreadType) + (receptacleType ?r GarbageCanType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e2cc0304f6ad23d0025d6357ecacea342a9e2be5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-BreadSliced-None-GarbageCan-16/trial_T20190907_232534_297377/traj_data.json @@ -0,0 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"z": 1.4148221 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_7275394e", + "position": { + "x": 2.74136, + "y": 1.08508265, + "z": 0.05956937 + }, + "rotation": { + "x": 0.0198850557, + "y": 7.16642462e-05, + "z": -2.4453353e-05 + } + }, + { + "objectName": "Cup_7fa88b29", + "position": { + "x": -0.851217866, + "y": 0.8151458, + "z": 1.181684 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_00fca5a2", + "position": { + "x": 2.719964, + "y": 1.02643776, + "z": 1.59717107 + }, + "rotation": { + "x": 0.0, + "y": 136.999985, + "z": 0.0 + } + }, + { + "objectName": "Bowl_b3ba1f80", + "position": { + "x": 2.169365, + "y": 2.27759838, + "z": -1.87190175 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_5dd10cb9", + "position": { + "x": -0.8512178, + "y": 0.8176854, + "z": 1.492535 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_a04e993b", + "position": { + "x": 2.976, + "y": 0.759470344, + "z": 3.89578176 + }, + "rotation": { + "x": 0.0, + "y": 269.999939, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1535181309, + "scene_num": 16 + }, + "task_id": "trial_T20190907_232534_297377", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AO33H4GL9KZX9_31LVTDXBLARQGT1X7BBL17Q0QYIRLA", + "high_descs": [ + "Turn around and go to the sink. ", + "Pick up the knife with wooden handle.", + "Turn around to go to the counter on the opposite side.", + "Slice a half of the bread on the counter.", + "Look for a drawer for the knife. ", + "Place the knife in the drawer. ", + "Go back to the bread on the counter.", + "Pick up one slice of the bread.", + "Turn around to go the to microwave above the stove. ", + "Heat the slice of bread in the microwave", + "Turn around and go to the trash can on the left on the opposite side.", + "Place the bread in the trash can." + ], + "task_desc": "Throw away a heated slice of bread.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_37Z929RLGCPQ0L9FV9DHD85D6F2STL", + "high_descs": [ + "Turn to the left, go forward, turn to the left, go forward to the sink.", + "Pick up the yellow handled knife that is in the sink. ", + "Turn to the left, go forward to the fridge, turn to the left, go forward to the counter where the bread is. ", + "Use the knife to cut the bread into slices. ", + "Turn around, go forward, turn around.", + "Open the drawer that is on the right underneath the bread and put the knife inside, close the drawer. ", + "Go forward to the counter. ", + "Pick up a slice of bread from the counter. ", + "Turn around, go forward and hang a left, go forward to the microwave that is above the stove. ", + "Put the bread inside the microwave, turn it on to cook, remove the cooked bread from the microwave and close the door. ", + "Back up, turn to the right, go forward, turn to the right, go forward then hang a left and go to the garbage can on the left. ", + "Put the bread in the garbage can. " + ], + "task_desc": "Put cooked bread in a garbage can. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3E47SOBEYTDKKQ484BODKWZM9UIICG", + "high_descs": [ + "turn left to the sink", + "pick up the knife", + "turn around to the table", + "slice the bread on the table", + "move to the drawer", + "place the knife in the drawer", + "turn left to the table", + "pick up a slice", + "head to the oven behind", + "place the bread to heat and take it out", + "turn around to the bin ", + "trash the bread slice" + ], + "task_desc": "trash a heated bread slice", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..820931bd72bb64cfb13217bba2b3295d048c334a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/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 fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_005411_294809)\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_32_bar__plus_00_dot_96_bar__plus_01_dot_25 - object\n Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17 - object\n Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 - object\n Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 - object\n Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33 - object\n Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object\n ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98 - object\n DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_57 - object\n DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_86 - object\n DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_03_dot_03 - object\n Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24 - object\n Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 - object\n Knife_bar__minus_02_dot_78_bar__plus_00_dot_85_bar__plus_03_dot_33 - object\n Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object\n Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_45 - object\n PepperShaker_bar__minus_02_dot_02_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_50 - object\n PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_63_bar__plus_02_dot_65 - object\n Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45 - object\n Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90 - object\n Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 - object\n Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 - object\n SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_90 - object\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object\n SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 - object\n Spoon_bar__minus_02_dot_06_bar__plus_00_dot_70_bar__plus_03_dot_63 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_32 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45 - object\n Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n 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location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar_1_bar_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType 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Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (objectType Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 KnifeType)\n (objectType LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 LightSwitchType)\n (objectType Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 TomatoType)\n (objectType Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 PlateType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType)\n (objectType Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33 LettuceType)\n (objectType 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Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04)\n (heatable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (heatable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25)\n (heatable Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98)\n (heatable Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17)\n (heatable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45)\n (heatable Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45)\n (heatable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95)\n (heatable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (heatable Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (heatable Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28)\n (heatable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (heatable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90)\n (coolable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04)\n (coolable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (coolable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33)\n (coolable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25)\n (coolable Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98)\n (coolable Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17)\n (coolable Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33)\n (coolable Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45)\n (coolable Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45)\n (coolable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95)\n (coolable Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71)\n (coolable Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20)\n (coolable Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77)\n (coolable Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28)\n (coolable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (coolable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90)\n \n \n \n \n \n (sliceable Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04)\n (sliceable Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33)\n (sliceable Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25)\n (sliceable Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17)\n (sliceable Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45)\n (sliceable Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45)\n (sliceable Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95)\n (sliceable Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45)\n (sliceable Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90)\n \n (inReceptacle Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (inReceptacle Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_57 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (inReceptacle DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_86 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (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)\n (inReceptacle SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle PepperShaker_bar__minus_02_dot_02_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (inReceptacle Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82)\n (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)\n (inReceptacle PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_50 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56)\n (inReceptacle Spoon_bar__minus_02_dot_06_bar__plus_00_dot_70_bar__plus_03_dot_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66)\n (inReceptacle PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_63_bar__plus_02_dot_65 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_03_dot_03 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18)\n (inReceptacle Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle SoapBottle_bar__minus_01_dot_19_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)\n (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_01_dot_05_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)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_66_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)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle Knife_bar__minus_02_dot_78_bar__plus_00_dot_85_bar__plus_03_dot_33 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (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)\n (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)\n (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03)\n (inReceptacle Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_03_dot_03 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (objectAtLocation Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_50 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_63_bar__plus_02_dot_65 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (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)\n (objectAtLocation DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_57 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (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)\n (objectAtLocation Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation Fork_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_60)\n (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)\n (objectAtLocation SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_90 loc_bar_0_bar_5_bar_1_bar_45)\n (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)\n (objectAtLocation PepperShaker_bar__minus_02_dot_02_bar__plus_01_dot_40_bar__plus_03_dot_90 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (objectAtLocation ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_86 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_06_bar__plus_00_dot_70_bar__plus_03_dot_63 loc_bar__minus_7_bar_12_bar_0_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_78_bar__plus_00_dot_85_bar__plus_03_dot_33 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to garbagecan 1", "take egg 1 from garbagecan 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to fridge 1", "open fridge 1", "move egg 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..f544413b3e2e954ada449199bd64c2be06643b34 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/initial_state.pddl @@ -0,0 +1,1112 @@ + +(define (problem plan_trial_T20190909_005411_294809) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_32_bar__plus_00_dot_96_bar__plus_01_dot_25 - object + Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_bar__plus_02_dot_17 - object + Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 - object + Bowl_bar__minus_02_dot_12_bar__plus_00_dot_13_bar__plus_03_dot_71 - object + Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33 - object + Bread_bar__plus_00_dot_83_bar__plus_00_dot_86_bar__plus_02_dot_45 - object + ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98 - object + DishSponge_bar__plus_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_57 - object + DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_86 - object + DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_03_dot_03 - object + Egg_bar__plus_00_dot_93_bar__plus_00_dot_06_bar__plus_02_dot_95 - 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_00_dot_70_bar__plus_00_dot_69_bar__plus_02_dot_24 - object + Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 - object + Knife_bar__minus_02_dot_78_bar__plus_00_dot_85_bar__plus_03_dot_33 - object + Lettuce_bar__minus_02_dot_69_bar__plus_01_dot_07_bar__plus_02_dot_33 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 - object + Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__minus_00_dot_66_bar__plus_01_dot_00_bar__plus_01_dot_45 - object + PepperShaker_bar__minus_02_dot_02_bar__plus_01_dot_40_bar__plus_03_dot_90 - object + PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_50 - object + PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_63_bar__plus_02_dot_65 - object + Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 - object + Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 - object + Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_bar__plus_01_dot_45 - object + Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90 - object + Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_38 - object + SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_90 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Spoon_bar__minus_02_dot_06_bar__plus_00_dot_70_bar__plus_03_dot_63 - 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_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45 - object + Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 - 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_13_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType 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Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73) + (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 SaltShaker_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_00_dot_90 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle PepperShaker_bar__minus_02_dot_02_bar__plus_01_dot_40_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73) + (inReceptacle Cup_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_00_dot_98 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 PepperShaker_bar__minus_02_dot_50_bar__plus_01_dot_85_bar__plus_02_dot_50 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56) + (inReceptacle Spoon_bar__minus_02_dot_06_bar__plus_00_dot_70_bar__plus_03_dot_63 Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66) + (inReceptacle PepperShaker_bar__minus_02_dot_62_bar__plus_01_dot_63_bar__plus_02_dot_65 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57) + (inReceptacle DishSponge_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_03_dot_03 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18) + (inReceptacle Knife_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Tomato_bar__minus_01_dot_19_bar__plus_00_dot_97_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle SoapBottle_bar__minus_01_dot_19_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_01_dot_32_bar__plus_00_dot_96_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Potato_bar__minus_01_dot_05_bar__plus_00_dot_94_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_01_dot_05_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 PaperTowelRoll_bar__minus_00_dot_66_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 Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Bowl_bar__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52) + (inReceptacle Knife_bar__minus_02_dot_78_bar__plus_00_dot_85_bar__plus_03_dot_33 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 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 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 Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77) + (inReceptacle Plate_bar__minus_01_dot_31_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Potato_bar__minus_01_dot_69_bar__plus_01_dot_40_bar__plus_03_dot_90 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88) + (inReceptacle Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03) + (inReceptacle Mug_bar__minus_02_dot_64_bar__plus_01_dot_19_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Apple_bar__minus_02_dot_71_bar__plus_01_dot_67_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_69_bar__plus_01_dot_07_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_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_93_bar__plus_00_dot_06_bar__plus_02_dot_95 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 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 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loc_bar__minus_7_bar_6_bar_3_bar_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45) + 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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__minus_01_dot_29_bar__plus_00_dot_13_bar__plus_03_dot_64 loc_bar__minus_3_bar_10_bar_0_bar_45) + (objectAtLocation 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loc_bar__minus_7_bar_12_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_01_dot_11_bar__plus_00_dot_94_bar__plus_01_dot_20 loc_bar__minus_4_bar_8_bar_2_bar_45) + (objectAtLocation Bowl_bar__minus_02_dot_68_bar__plus_01_dot_61_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o EggType) + (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-Egg-None-Fridge-24/trial_T20190909_005411_294809/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005411_294809/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..4674d4ede3cc15160cf63e9555571006690d8270 --- /dev/null +++ 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"x": -1.31763232, + "y": 0.961789846, + "z": 1.24653733 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": -0.5249086, + "y": 0.923701346, + "z": 1.24653721 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -2.63610482, + "y": 1.18599272, + "z": 2.277829 + }, + "rotation": { + "x": 0.0, + "y": 90.00001, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -1.2937814, + "y": 0.1264711, + "z": 3.63610172 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1156542653, + "scene_num": 24 + }, + "task_id": "trial_T20190909_005411_294809", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_33UKMF931CBZ0A8SGH7OOZL12GYTTQ", + "high_descs": [ + "walk to face the round garbage bin to the left of the counter", + "pick up the brown egg from the bin", + "walk to face the microwave above the sinks", + "cook the egg in the microwave, remove egg from microwave", + "walk over to face the fridge", + "put the egg into the fridge" + ], + "task_desc": "put a cooked egg into the fridge", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3C2NJ6JBKD87LY9V061GED6JDLZN2R", + "high_descs": [ + "Turn around and face the trash can on the left.", + "Pick up the egg from inside the trash can. ", + "Hold the egg and turn around. Move forward, and turn right to face the sink.", + "Open the microwave above the sink and place the egg inside. Shut the door then open it again. Take out the egg and shut the door.", + "Hold the egg and turn around, then right to face the fridge.", + "Open the fridge and place the egg inside. Shut the door." + ], + "task_desc": "Heat and chill an egg.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3MHW492WW34A07MXCF6R33EU5UMMV4", + "high_descs": [ + "Turn around and walk to the waste basket to your left next to the counter.", + "Pick up the egg inside the waste basket.", + "Turn around and walk to the microwave to your right above the sink.", + "Place the egg on the plate inside the microwave, cook the egg and remove it.", + "Turn around and walk to the fridge to your right.", + "Place the cooked egg inside the fridge for storage." + ], + "task_desc": "Place a cooked egg inside the fridge.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b058bc95a150dd91fff1aba8ad3aed0f23e3498f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot egg in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_005512_279849)\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_88_bar__plus_00_dot_88_bar__plus_02_dot_29 - object\n Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94 - object\n Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 - object\n Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 - object\n ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94 - object\n Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 - object\n Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 - object\n Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_35 - object\n Knife_bar__minus_00_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_35 - object\n Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46 - object\n Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01 - object\n Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17 - object\n Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object\n PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 - object\n PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 - object\n Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 - object\n Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 - object\n Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04 - object\n Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 - object\n 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StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_48 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 - object\n Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_1_bar_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType)\n (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (objectType LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 LightSwitchType)\n (objectType SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 SaltShakerType)\n (objectType PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 PepperShakerType)\n (objectType ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 ButterKnifeType)\n (objectType Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 PlateType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType)\n (objectType Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 ChairType)\n (objectType Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 CupType)\n (objectType Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29 AppleType)\n (objectType Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 ForkType)\n (objectType PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 PaperTowelRollType)\n (objectType Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 LettuceType)\n (objectType Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 EggType)\n (objectType Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94 CupType)\n (objectType Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 PanType)\n (objectType Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 PlateType)\n (objectType 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(canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType 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(canContain DiningTableType ButterKnifeType)\n (canContain DiningTableType CupType)\n (canContain DiningTableType PlateType)\n (canContain DiningTableType PepperShakerType)\n (canContain DiningTableType TomatoType)\n (canContain DiningTableType KnifeType)\n (canContain DiningTableType AppleType)\n (canContain DiningTableType PanType)\n (canContain DiningTableType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType 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Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29)\n (cleanable Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98)\n (cleanable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17)\n (cleanable Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (cleanable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94)\n (cleanable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (cleanable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68)\n (cleanable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29)\n (cleanable Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01)\n (cleanable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (cleanable DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25)\n (cleanable Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94)\n (cleanable Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_35)\n (cleanable Spoon_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45)\n (cleanable Knife_bar__minus_00_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_35)\n (cleanable Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17)\n (cleanable Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46)\n (cleanable Spoon_bar__minus_02_dot_09_bar__plus_00_dot_70_bar__plus_03_dot_70)\n (cleanable Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_02_dot_37)\n (cleanable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04)\n (cleanable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76)\n (cleanable Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16)\n (cleanable Spatula_bar__plus_00_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_98)\n (cleanable Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (cleanable Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95)\n \n (heatable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (heatable Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (heatable Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29)\n (heatable Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (heatable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94)\n (heatable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68)\n (heatable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29)\n (heatable Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01)\n (heatable Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17)\n (heatable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04)\n (heatable Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (heatable Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22)\n (coolable Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90)\n (coolable Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56)\n (coolable Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29)\n (coolable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17)\n (coolable Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (coolable Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94)\n (coolable Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74)\n (coolable Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68)\n (coolable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29)\n (coolable Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01)\n (coolable Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38)\n (coolable Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94)\n (coolable Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17)\n (coolable Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46)\n (coolable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04)\n (coolable Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76)\n (coolable Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (coolable Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22)\n \n \n \n \n \n (sliceable Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29)\n (sliceable Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17)\n (sliceable Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56)\n (sliceable Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29)\n (sliceable Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46)\n (sliceable Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04)\n (sliceable Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17)\n (sliceable Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22)\n \n (inReceptacle Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20)\n (inReceptacle Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle SaltShaker_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Spatula_bar__plus_00_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Cup_bar__plus_00_dot_65_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)\n (inReceptacle Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle SoapBottle_bar__plus_00_dot_95_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)\n (inReceptacle Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (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)\n (inReceptacle Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38)\n (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)\n (inReceptacle ButterKnife_bar__minus_01_dot_19_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)\n (inReceptacle Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle DishSponge_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)\n (inReceptacle Knife_bar__minus_00_dot_66_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)\n (inReceptacle Cup_bar__minus_01_dot_19_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)\n (inReceptacle Spoon_bar__minus_01_dot_19_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)\n (inReceptacle Knife_bar__minus_00_dot_92_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_05_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)\n (inReceptacle Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (inReceptacle PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (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)\n (inReceptacle Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69)\n (inReceptacle Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle SoapBottle_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (objectAtLocation Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__minus_00_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_93_bar__plus_00_dot_02_bar__plus_02_dot_92 loc_bar_2_bar_12_bar_1_bar_60)\n (objectAtLocation Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation SaltShaker_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (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)\n (objectAtLocation Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 loc_bar__minus_5_bar_10_bar_0_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_bar_1_bar_45)\n (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)\n (objectAtLocation Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (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)\n (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)\n (objectAtLocation Spatula_bar__plus_00_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_63 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (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)\n (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)\n (objectAtLocation PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (objectAtLocation ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_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)\n (objectAtLocation Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46 loc_bar_1_bar_10_bar_1_bar_45)\n (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)\n (objectAtLocation Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 loc_bar__minus_7_bar_11_bar_3_bar_0)\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 FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take egg 1 from diningtable 1", "go to microwave 1", "heat egg 1 with microwave 1", "go to fridge 1", "open fridge 1", "move egg 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..fc98d2f85cc04f453213606f56a48a2595402d18 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005512_279849/initial_state.pddl @@ -0,0 +1,1111 @@ + +(define (problem plan_trial_T20190909_005512_279849) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_88_bar__plus_00_dot_88_bar__plus_02_dot_29 - object + Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94 - object + Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 - object + Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 - object + ButterKnife_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_45 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__plus_00_dot_65_bar__plus_00_dot_82_bar__plus_00_dot_94 - object + Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_25 - object + Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 - 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_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 - object + Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 - object + Knife_bar__minus_00_dot_66_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Knife_bar__minus_00_dot_92_bar__plus_00_dot_92_bar__plus_01_dot_35 - object + Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46 - object + Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01 - object + Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_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__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 - object + PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 - object + Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 - object + Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 - object + Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04 - object + Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 - object + SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + SaltShaker_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + SaltShaker_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_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_93_bar__plus_00_dot_02_bar__plus_02_dot_92 - object + SoapBottle_bar__plus_00_dot_95_bar__plus_00_dot_82_bar__plus_02_dot_63 - object + Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_02_dot_37 - object + Spatula_bar__plus_00_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_98 - object + Spoon_bar__minus_01_dot_19_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 + Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 - 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__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 - object + Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17 - 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 + 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Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20) + (inReceptacle Plate_bar__minus_01_dot_70_bar__plus_01_dot_69_bar__plus_03_dot_90 Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle SaltShaker_bar__minus_02_dot_46_bar__plus_01_dot_40_bar__plus_03_dot_94 Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Spatula_bar__plus_00_dot_88_bar__plus_00_dot_84_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Fork_bar__plus_01_dot_02_bar__plus_00_dot_82_bar__plus_00_dot_98 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98) + (inReceptacle Cup_bar__plus_00_dot_65_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 Bowl_bar__minus_02_dot_18_bar__plus_01_dot_40_bar__plus_03_dot_94 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73) + (inReceptacle Tomato_bar__plus_01_dot_02_bar__plus_00_dot_89_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Spatula_bar__plus_00_dot_80_bar__plus_00_dot_84_bar__plus_02_dot_37 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle SoapBottle_bar__plus_00_dot_95_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 Apple_bar__plus_00_dot_88_bar__plus_00_dot_88_bar__plus_02_dot_29 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Lettuce_bar__plus_00_dot_88_bar__plus_00_dot_90_bar__plus_02_dot_46 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 Bowl_bar__minus_02_dot_58_bar__plus_01_dot_63_bar__plus_02_dot_76 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57) + (inReceptacle PepperShaker_bar__minus_02_dot_71_bar__plus_01_dot_40_bar__plus_03_dot_82 Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38) + (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 ButterKnife_bar__minus_01_dot_19_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 Potato_bar__minus_00_dot_52_bar__plus_00_dot_94_bar__plus_01_dot_04 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Egg_bar__minus_00_dot_79_bar__plus_00_dot_94_bar__plus_01_dot_56 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle DishSponge_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 Knife_bar__minus_00_dot_66_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 Cup_bar__minus_01_dot_19_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_19_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 Knife_bar__minus_00_dot_92_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 SaltShaker_bar__minus_01_dot_05_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 Plate_bar__minus_01_dot_77_bar__plus_00_dot_13_bar__plus_03_dot_68 Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52) + (inReceptacle PaperTowelRoll_bar__minus_02_dot_50_bar__plus_00_dot_93_bar__plus_03_dot_58 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 Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Mug_bar__minus_02_dot_58_bar__plus_01_dot_84_bar__plus_02_dot_01 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69) + (inReceptacle Lettuce_bar__minus_02_dot_46_bar__plus_01_dot_07_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Tomato_bar__minus_02_dot_68_bar__plus_01_dot_48_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Mug_bar__minus_02_dot_69_bar__plus_01_dot_19_bar__plus_02_dot_17 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle Bread_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13) + (inReceptacle SoapBottle_bar__plus_00_dot_93_bar__plus_00_dot_02_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 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 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30) + (receptacleAtLocation 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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 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(objectAtLocation Spoon_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_03_dot_95 loc_bar__minus_7_bar_12_bar_0_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_77_bar__plus_00_dot_13_bar__plus_03_dot_68 loc_bar__minus_5_bar_10_bar_0_bar_45) + (objectAtLocation Fork_bar__plus_00_dot_64_bar__plus_00_dot_69_bar__plus_02_dot_16 loc_bar__minus_1_bar_10_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_02_dot_58_bar__plus_00_dot_82_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_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) + 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+ }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": -0.9212704, + "y": 0.923701346, + "z": 1.349578 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -2.581316, + "y": 1.84425914, + "z": 2.00841713 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -2.17529941, + "y": 1.39695573, + "z": 3.9368124 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2339116516, + "scene_num": 24 + }, + "task_id": "trial_T20190909_005512_279849", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3570Y55XZSARCRLG6NVGXXYRRPRYGW", + "high_descs": [ + "Turn left and walk forward, then turn left and walk over to the white table.", + "Pick up the egg off of the white table.", + "Turn right and walk towards the fridge, then hang a right and walk over to the sink and look up at the microwave.", + "Heat up the egg in the microwave then take it out and close the microwave.", + "Turn around and walk towards the wall, then turn right and walk up to the fridge.", + "Open the fridge and put the heated egg inside then close the door." + ], + "task_desc": "Put a heated egg in the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3WYGZ5XF3Z6ZIR5QX8O6D32JHKUKSN", + "high_descs": [ + "turn to face square kitchen table", + "pick up brown egg from kitchen table", + "walk to face microwave", + "cook egg in microwave, remove egg from microwave", + "walk left to face fridge", + "put egg inside fridge" + ], + "task_desc": "put a cooked egg inside a fridge", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_30LB5CDZNF1U6DK0O78WQCKDQ2AZ0P", + "high_descs": [ + "Turn around move to the table with the microwave on it.", + "Pick up the egg on the table. ", + "Turn around, bring the egg to the microwave above the sink. ", + "Heat the egg in the microwave. ", + "Turn around with the heated egg, bring it to the fridge on the right.", + "Put the heated egg in the fridge." + ], + "task_desc": "Put a heated egg in the fridge. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..0bc229bed86c9a2507deecb89bfab0c1d73ff5f9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot egg in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_005558_532531)\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_93_bar__plus_00_dot_09_bar__plus_02_dot_89 - object\n Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56 - object\n Apple_bar__minus_02_dot_68_bar__plus_01_dot_47_bar__plus_02_dot_11 - object\n Bowl_bar__minus_01_dot_39_bar__plus_00_dot_13_bar__plus_03_dot_64 - object\n Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 - object\n Bowl_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__plus_02_dot_33 - object\n Bread_bar__plus_00_dot_82_bar__plus_00_dot_89_bar__plus_02_dot_43 - object\n ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 - object\n Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object\n Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_25 - object\n Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 - object\n DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object\n DishSponge_bar__minus_02_dot_06_bar__plus_01_dot_40_bar__plus_03_dot_86 - object\n Egg_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__plus_01_dot_07 - object\n Egg_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_77 - object\n Egg_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_03_dot_48 - object\n Egg_bar__minus_02_dot_50_bar__plus_00_dot_86_bar__plus_03_dot_87 - object\n Faucet_bar__minus_01_dot_37_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Faucet_bar__minus_01_dot_84_bar__plus_00_dot_81_bar__plus_03_dot_99 - object\n Fork_bar__minus_00_dot_54_bar__plus_00_dot_89_bar__plus_01_dot_06 - object\n Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_01_dot_03 - object\n Knife_bar__plus_01_dot_03_bar__plus_00_dot_84_bar__plus_02_dot_55 - object\n Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_51 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35 - object\n Lettuce_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 - object\n LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object\n 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StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_73 - object\n StoveKnob_bar__plus_01_dot_10_bar__plus_01_dot_00_bar__plus_01_dot_89 - object\n Tomato_bar__plus_00_dot_88_bar__plus_00_dot_89_bar__plus_02_dot_20 - object\n Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_00_dot_94 - object\n Window_bar__minus_01_dot_13_bar__plus_01_dot_67_bar__plus_00_dot_81 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 - receptacle\n Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 - receptacle\n Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 - receptacle\n Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 - receptacle\n CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 - receptacle\n CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 - receptacle\n CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 - receptacle\n DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 - receptacle\n Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 - receptacle\n Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 - receptacle\n Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 - receptacle\n GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 - receptacle\n Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 - receptacle\n Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 - receptacle\n StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 - receptacle\n Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 - receptacle\n loc_bar__minus_6_bar_13_bar_0_bar_60 - location\n loc_bar__minus_7_bar_11_bar_3_bar_0 - location\n loc_bar__minus_5_bar_13_bar_3_bar_45 - location\n loc_bar_1_bar_10_bar_1_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar_15 - location\n loc_bar__minus_7_bar_11_bar_0_bar_0 - location\n loc_bar__minus_6_bar_13_bar_0_bar__minus_30 - location\n loc_bar__minus_3_bar_12_bar_0_bar_60 - location\n loc_bar_2_bar_12_bar_1_bar_60 - location\n loc_bar_0_bar_5_bar_1_bar_60 - location\n loc_bar__minus_3_bar_10_bar_0_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_45 - location\n loc_bar__minus_6_bar_9_bar_3_bar__minus_15 - location\n loc_bar_0_bar_7_bar_2_bar_45 - location\n loc_bar__minus_7_bar_12_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar_10_bar_0_bar_45 - location\n loc_bar__minus_6_bar_13_bar_0_bar_30 - location\n loc_bar_0_bar_7_bar_1_bar_30 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_30 - location\n loc_bar__minus_1_bar_12_bar_1_bar_60 - location\n loc_bar__minus_3_bar_8_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar_2_bar_14_bar_0_bar_30 - location\n loc_bar__minus_7_bar_12_bar_0_bar_60 - location\n loc_bar__minus_4_bar_8_bar_2_bar_60 - location\n loc_bar__minus_6_bar_13_bar_3_bar__minus_15 - location\n loc_bar_0_bar_5_bar_1_bar_45 - location\n loc_bar_0_bar_5_bar_1_bar_30 - location\n loc_bar__minus_5_bar_8_bar_3_bar_45 - location\n loc_bar_0_bar_6_bar_1_bar_45 - location\n loc_bar__minus_7_bar_12_bar_0_bar_45 - location\n loc_bar__minus_7_bar_6_bar_3_bar__minus_30 - location\n loc_bar__minus_3_bar_13_bar_0_bar_0 - location\n loc_bar__minus_1_bar_11_bar_1_bar_60 - location\n loc_bar__minus_7_bar_6_bar_2_bar_0 - location\n loc_bar__minus_6_bar_12_bar_3_bar_60 - location\n loc_bar__minus_1_bar_12_bar_1_bar_45 - location\n loc_bar__minus_5_bar_13_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_20 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_41_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_11_bar__plus_00_dot_71_bar__plus_03_dot_66 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_67_bar__plus_03_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Toaster_bar__minus_02_dot_25_bar__plus_00_dot_81_bar__plus_03_dot_86 ToasterType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_00_dot_64_bar__plus_01_dot_68 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 CabinetType)\n (receptacleType DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 DiningTableType)\n (receptacleType Cabinet_bar__minus_01_dot_96_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88 MicrowaveType)\n (receptacleType Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13 FridgeType)\n (receptacleType StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_99_bar__plus_00_dot_39_bar__plus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 CabinetType)\n (receptacleType StoveBurner_bar__plus_00_dot_91_bar__plus_00_dot_84_bar__plus_01_dot_38 StoveBurnerType)\n (receptacleType CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 CounterTopType)\n (receptacleType GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_97_bar__plus_00_dot_39_bar__plus_03_dot_52 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98 DrawerType)\n (objectType LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 LightSwitchType)\n (objectType Spoon_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 SpoonType)\n (objectType Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 SinkType)\n (objectType SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 SoapBottleType)\n (objectType Bread_bar__plus_00_dot_82_bar__plus_00_dot_89_bar__plus_02_dot_43 BreadType)\n (objectType Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_48 PotatoType)\n (objectType PepperShaker_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_04_dot_01 PepperShakerType)\n (objectType 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DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_02_dot_53)\n (inReceptacle Egg_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Knife_bar__plus_01_dot_02_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)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_95_bar__plus_00_dot_93_bar__plus_01_dot_07 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle Pan_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98)\n (inReceptacle DishSponge_bar__minus_02_dot_06_bar__plus_01_dot_40_bar__plus_03_dot_86 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (inReceptacle Mug_bar__minus_02_dot_06_bar__plus_01_dot_39_bar__plus_03_dot_98 Cabinet_bar__minus_01_dot_98_bar__plus_01_dot_78_bar__plus_03_dot_73)\n (inReceptacle SaltShaker_bar__minus_00_dot_75_bar__plus_01_dot_24_bar__plus_03_dot_79 Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74)\n (inReceptacle SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 Cabinet_bar__minus_00_dot_42_bar__plus_01_dot_70_bar__plus_03_dot_74)\n (inReceptacle Bread_bar__plus_00_dot_82_bar__plus_00_dot_89_bar__plus_02_dot_43 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Spatula_bar__plus_00_dot_93_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)\n (inReceptacle Knife_bar__plus_01_dot_03_bar__plus_00_dot_84_bar__plus_02_dot_55 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_02_dot_20 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Tomato_bar__plus_00_dot_88_bar__plus_00_dot_89_bar__plus_02_dot_20 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37)\n (inReceptacle Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69)\n (inReceptacle Spoon_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98)\n (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)\n (inReceptacle Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57)\n (inReceptacle Pan_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_38)\n (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69)\n (inReceptacle Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_45 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_00_dot_94 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Fork_bar__minus_00_dot_54_bar__plus_00_dot_89_bar__plus_01_dot_06 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (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)\n (inReceptacle Cup_bar__minus_00_dot_52_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)\n (inReceptacle DishSponge_bar__minus_01_dot_05_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)\n (inReceptacle Cup_bar__minus_01_dot_19_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)\n (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)\n (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)\n (inReceptacle SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32)\n (inReceptacle Bowl_bar__minus_01_dot_39_bar__plus_00_dot_13_bar__plus_03_dot_64 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52)\n (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)\n (inReceptacle Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_48 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (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)\n (inReceptacle ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_51 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Egg_bar__minus_02_dot_50_bar__plus_00_dot_86_bar__plus_03_dot_87 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Egg_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_03_dot_48 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80)\n (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77)\n (inReceptacle PepperShaker_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_04_dot_01 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73)\n (inReceptacle Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_90 Microwave_bar__minus_01_dot_53_bar__plus_01_dot_25_bar__plus_03_dot_88)\n (inReceptacle Apple_bar__minus_02_dot_68_bar__plus_01_dot_47_bar__plus_02_dot_11 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Bowl_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__plus_02_dot_33 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Lettuce_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 Fridge_bar__minus_02_dot_64_bar__plus_00_dot_00_bar__plus_02_dot_13)\n (inReceptacle Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_89 GarbageCan_bar__plus_00_dot_93_bar__plus_00_dot_00_bar__plus_02_dot_92)\n (inReceptacle Egg_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_77 Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83_bar_SinkBasin)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_69_bar__plus_02_dot_57 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_01_dot_93_bar__plus_01_dot_69 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_06 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_01_dot_69 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_56 loc_bar__minus_6_bar_9_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_03_dot_18 loc_bar__minus_7_bar_12_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_17 loc_bar__minus_5_bar_13_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_43_bar__plus_00_dot_44_bar__plus_03_dot_42 loc_bar__minus_6_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_62_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_95_bar__plus_01_dot_93_bar__plus_03_dot_73 loc_bar__minus_6_bar_13_bar_3_bar__minus_15)\n (receptacleAtLocation CoffeeMachine_bar__minus_01_dot_00_bar__plus_00_dot_89_bar__plus_01_dot_03 loc_bar__minus_4_bar_8_bar_2_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_00_dot_98 loc_bar_0_bar_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_bar__minus_01_dot_39_bar__plus_00_dot_13_bar__plus_03_dot_64 loc_bar__minus_3_bar_10_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_06_bar__plus_01_dot_39_bar__plus_03_dot_98 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (objectAtLocation Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_51 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_89 loc_bar_2_bar_12_bar_1_bar_60)\n (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)\n (objectAtLocation Lettuce_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_00_dot_94 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (objectAtLocation SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 loc_bar_0_bar_7_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_00_dot_93_bar__plus_00_dot_82_bar__plus_02_dot_37 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 loc_bar__minus_1_bar_12_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_68_bar__plus_01_dot_47_bar__plus_02_dot_11 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 loc_bar__minus_7_bar_6_bar_3_bar__minus_30)\n (objectAtLocation Knife_bar__plus_01_dot_03_bar__plus_00_dot_84_bar__plus_02_dot_55 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_03_dot_48 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_50_bar__plus_00_dot_86_bar__plus_03_dot_87 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 loc_bar_0_bar_7_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_02_dot_06_bar__plus_01_dot_40_bar__plus_03_dot_86 loc_bar__minus_7_bar_11_bar_0_bar_0)\n (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)\n (objectAtLocation Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 loc_bar__minus_7_bar_11_bar_3_bar_0)\n (objectAtLocation Fork_bar__minus_00_dot_54_bar__plus_00_dot_89_bar__plus_01_dot_06 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (objectAtLocation Bread_bar__plus_00_dot_82_bar__plus_00_dot_89_bar__plus_02_dot_43 loc_bar_1_bar_10_bar_1_bar_45)\n (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)\n (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)\n (objectAtLocation Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_45 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation PaperTowelRoll_bar__plus_00_dot_95_bar__plus_00_dot_93_bar__plus_01_dot_07 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_48 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (objectAtLocation Egg_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_77 loc_bar__minus_6_bar_13_bar_0_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_25 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (objectAtLocation SaltShaker_bar__minus_00_dot_75_bar__plus_01_dot_24_bar__plus_03_dot_79 loc_bar__minus_3_bar_13_bar_0_bar_0)\n (objectAtLocation Pan_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 loc_bar_0_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_04_dot_01 loc_bar__minus_6_bar_13_bar_0_bar__minus_30)\n (objectAtLocation ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 loc_bar__minus_7_bar_12_bar_0_bar_45)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Tomato_bar__plus_00_dot_88_bar__plus_00_dot_89_bar__plus_02_dot_20 loc_bar_1_bar_10_bar_1_bar_45)\n (objectAtLocation DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35 loc_bar__minus_4_bar_8_bar_2_bar_60)\n (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)\n (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)\n (objectAtLocation Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_01_dot_03 loc_bar_0_bar_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_90 loc_bar__minus_6_bar_13_bar_0_bar_30)\n (objectAtLocation Bowl_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__plus_02_dot_33 loc_bar__minus_7_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o EggType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take egg 1 from countertop 2", "go to microwave 1", "heat egg 1 with microwave 1", "go to fridge 1", "open fridge 1", "move egg 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..4daf8afecb04b22342c5c6d61e2ea9e057f9826e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Egg-None-Fridge-24/trial_T20190909_005558_532531/initial_state.pddl @@ -0,0 +1,1198 @@ + +(define (problem plan_trial_T20190909_005558_532531) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_00_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_89 - object + Apple_bar__minus_00_dot_52_bar__plus_00_dot_96_bar__plus_01_dot_56 - object + Apple_bar__minus_02_dot_68_bar__plus_01_dot_47_bar__plus_02_dot_11 - object + Bowl_bar__minus_01_dot_39_bar__plus_00_dot_13_bar__plus_03_dot_64 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_01_dot_53 - object + Bowl_bar__minus_02_dot_69_bar__plus_00_dot_99_bar__plus_02_dot_33 - object + Bread_bar__plus_00_dot_82_bar__plus_00_dot_89_bar__plus_02_dot_43 - object + ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 - object + Chair_bar__minus_00_dot_87_bar__plus_00_dot_49_bar__plus_01_dot_50 - object + Cup_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_25 - object + Cup_bar__minus_01_dot_19_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + DishSponge_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_02_dot_53 - object + DishSponge_bar__minus_01_dot_05_bar__plus_00_dot_90_bar__plus_01_dot_56 - object + DishSponge_bar__minus_02_dot_06_bar__plus_01_dot_40_bar__plus_03_dot_86 - object + Egg_bar__plus_00_dot_88_bar__plus_00_dot_86_bar__plus_01_dot_07 - object + Egg_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_03_dot_77 - object + Egg_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_03_dot_48 - object + Egg_bar__minus_02_dot_50_bar__plus_00_dot_86_bar__plus_03_dot_87 - 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__minus_00_dot_54_bar__plus_00_dot_89_bar__plus_01_dot_06 - object + Knife_bar__plus_01_dot_02_bar__plus_00_dot_85_bar__plus_01_dot_03 - object + Knife_bar__plus_01_dot_03_bar__plus_00_dot_84_bar__plus_02_dot_55 - object + Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_51 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_98_bar__plus_01_dot_35 - object + Lettuce_bar__minus_02_dot_52_bar__plus_00_dot_84_bar__plus_02_dot_28 - object + LightSwitch_bar__plus_00_dot_83_bar__plus_01_dot_40_bar__plus_04_dot_08 - object + Mug_bar__minus_01_dot_69_bar__plus_01_dot_35_bar__plus_03_dot_90 - object + Mug_bar__minus_02_dot_06_bar__plus_01_dot_39_bar__plus_03_dot_98 - object + Pan_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_38 - object + Pan_bar__minus_02_dot_67_bar__plus_00_dot_81_bar__plus_03_dot_74 - object + PaperTowelRoll_bar__plus_00_dot_95_bar__plus_00_dot_93_bar__plus_01_dot_07 - object + PepperShaker_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_04_dot_01 - object + Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 - object + Plate_bar__minus_02_dot_54_bar__plus_01_dot_64_bar__plus_02_dot_72 - object + Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_02_dot_20 - object + Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_48 - object + Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + Pot_bar__plus_00_dot_91_bar__plus_00_dot_85_bar__plus_01_dot_77 - object + SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 - object + SaltShaker_bar__minus_00_dot_75_bar__plus_01_dot_24_bar__plus_03_dot_79 - object + Sink_bar__minus_01_dot_70_bar__plus_00_dot_73_bar__plus_03_dot_83 - object + SoapBottle_bar__minus_00_dot_92_bar__plus_01_dot_24_bar__plus_03_dot_83 - object + Spatula_bar__plus_00_dot_93_bar__plus_00_dot_82_bar__plus_02_dot_37 - object + Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 - object + Spatula_bar__minus_01_dot_05_bar__plus_00_dot_92_bar__plus_01_dot_45 - object + Spoon_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 - object + Spoon_bar__minus_01_dot_32_bar__plus_00_dot_90_bar__plus_01_dot_04 - 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__plus_00_dot_88_bar__plus_00_dot_89_bar__plus_02_dot_20 - object + Tomato_bar__minus_01_dot_32_bar__plus_00_dot_97_bar__plus_00_dot_94 - 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__minus_5_bar_13_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 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CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Knife_bar__plus_01_dot_03_bar__plus_00_dot_84_bar__plus_02_dot_55 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Potato_bar__plus_00_dot_65_bar__plus_00_dot_87_bar__plus_02_dot_20 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Tomato_bar__plus_00_dot_88_bar__plus_00_dot_89_bar__plus_02_dot_20 CounterTop_bar__plus_00_dot_86_bar__plus_00_dot_86_bar__plus_02_dot_37) + (inReceptacle Plate_bar__plus_00_dot_74_bar__plus_00_dot_13_bar__plus_02_dot_53 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_39_bar__plus_02_dot_69) + (inReceptacle Spoon_bar__plus_00_dot_77_bar__plus_00_dot_69_bar__plus_00_dot_94 Drawer_bar__plus_00_dot_73_bar__plus_00_dot_70_bar__plus_00_dot_98) + (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) + 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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 Cup_bar__minus_00_dot_52_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 DishSponge_bar__minus_01_dot_05_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_01_dot_19_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_04 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 SaltShaker_bar__minus_00_dot_52_bar__plus_00_dot_90_bar__plus_01_dot_35 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Spatula_bar__minus_00_dot_52_bar__plus_00_dot_92_bar__plus_01_dot_25 DiningTable_bar__minus_00_dot_88_bar__plus_00_dot_01_bar__plus_01_dot_32) + (inReceptacle Bowl_bar__minus_01_dot_39_bar__plus_00_dot_13_bar__plus_03_dot_64 Cabinet_bar__minus_01_dot_14_bar__plus_00_dot_39_bar__plus_03_dot_52) + (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 Potato_bar__minus_02_dot_85_bar__plus_00_dot_87_bar__plus_03_dot_48 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 ButterKnife_bar__minus_02_dot_17_bar__plus_00_dot_81_bar__plus_03_dot_55 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Knife_bar__minus_01_dot_46_bar__plus_00_dot_85_bar__plus_03_dot_51 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Egg_bar__minus_02_dot_50_bar__plus_00_dot_86_bar__plus_03_dot_87 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Egg_bar__minus_02_dot_49_bar__plus_00_dot_86_bar__plus_03_dot_48 CounterTop_bar__minus_02_dot_08_bar__plus_00_dot_86_bar__plus_03_dot_80) + (inReceptacle Pot_bar__plus_00_dot_64_bar__plus_00_dot_85_bar__plus_01_dot_77 StoveBurner_bar__plus_00_dot_64_bar__plus_00_dot_84_bar__plus_01_dot_77) + (inReceptacle PepperShaker_bar__minus_01_dot_46_bar__plus_01_dot_68_bar__plus_04_dot_01 Cabinet_bar__minus_01_dot_10_bar__plus_01_dot_93_bar__plus_03_dot_73) + (inReceptacle 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"Spoon_ac730c84", + "position": { + "x": -1.31763232, + "y": 0.901750147, + "z": 1.04045594 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_21fad42f", + "position": { + "x": 0.9315196, + "y": 0.08541692, + "z": 2.88902521 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_b53567ce", + "position": { + "x": -1.457582, + "y": 0.846180558, + "z": 3.51427245 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_2e53b233", + "position": { + "x": -2.0599196, + "y": 1.39377332, + "z": 3.976168 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_f44f174d", + "position": { + "x": -1.39375091, + "y": 0.1264711, + "z": 3.63610172 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1386002910, + "scene_num": 24 + }, + "task_id": "trial_T20190909_005558_532531", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A24RGLS3BRZ60J_3KMS4QQVK5HQEM04ROO764J4SUOFKN", + "high_descs": [ + "Take a step to the left and face the sink on the right.", + "Pick up the egg from the left side of the sink.", + "Hold the egg and take a step to the right, and look up at the microwave.", + "Open the microwave and place the egg inside. Shut the door and then open it. Take out the egg and shut the door.", + "Carry the egg and turn around and face the fridge on the right.", + "Open the fridge and place the egg inside. Shut the door." + ], + "task_desc": "Heat and chill an egg.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3X65QVEQI3EUVGYCLMA7DYBGKIPLCB", + "high_descs": [ + "Walk to the sink on the left side. ", + "Pick up the the potato from the sink. ", + "Move over to the sink on the right side and look up above the sink at the microwave. ", + "Open the microwave door, put the potato in the microwave to the right of the white mug, close the door, heat up the potato, take the potato out of the microwave, close the door. ", + "Turn around and walk to the fridge. ", + "Open the fridge door, put the potato in the fridge, and close the door. " + ], + "task_desc": "Heat up the potato and put it in the fridge. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3EQHHY4HQVJTA3BWVLQJM00YWK6G5H", + "high_descs": [ + "Turn left and walk forward, then turn right to face the sink.", + "Pick up the egg out of the left sink.", + "Turn right and walk forward, then turn left and look up at the microwave.", + "Put the egg in the microwave then close the door and turn on the microwave, after a couple seconds take the egg out and close the microwave.", + "Turn around and walk forward, then right and walk up to the fridge.", + "Put the heated egg inside the fridge on the second shelf from the top, then close the doors." + ], + "task_desc": "Put a heated egg in the fridge.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..157b9a66eb9d70ee59972575ae4544f4d824fd5e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/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 mug 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_014747_191766)\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_81_bar__plus_02_dot_11 - object\n Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_19 - object\n Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_01_dot_42 - object\n Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_79 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Spoon_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 - object\n Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_00_dot_56 - object\n Spoon_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_03_dot_24 - object\n StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object\n Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__minus_02_dot_72 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_37 - object\n WineBottle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 - object\n WineBottle_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_68 - object\n Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle\n Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle\n CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle\n CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle\n Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle\n Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle\n Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle\n GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle\n Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle\n SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle\n Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle\n StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle\n Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle\n loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_60 - location\n loc_bar__minus_1_bar_0_bar_1_bar_60 - location\n loc_bar__minus_2_bar_7_bar_3_bar_45 - location\n loc_bar_0_bar_3_bar_1_bar_45 - location\n loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location\n loc_bar_1_bar_3_bar_1_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location\n loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location\n loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location\n loc_bar_1_bar_4_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location\n loc_bar_3_bar__minus_1_bar_1_bar_30 - location\n loc_bar_0_bar_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar_5_bar_0_bar_60 - location\n loc_bar__minus_2_bar_0_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location\n loc_bar__minus_1_bar_2_bar_1_bar_60 - location\n loc_bar_0_bar_1_bar_1_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar__minus_1_bar__minus_5_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 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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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PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle SaltShaker_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 Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (inReceptacle Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_00_dot_56 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_22 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle SaltShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle 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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_79 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Potato_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 SoapBottle_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_22 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__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_05 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation SaltShaker_bar__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 WineBottle_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Lettuce_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_02_dot_98 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_74_bar__plus_01_dot_34_bar__minus_01_dot_12 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_01_dot_38_bar__plus_01_dot_43_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__minus_02_dot_72 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar_0_bar__minus_4_bar_1_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__plus_01_dot_06_bar__plus_01_dot_81_bar__plus_02_dot_11 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 loc_bar_0_bar__minus_6_bar_1_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CabinetType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 1 from coffeemachine 1", "go to microwave 1", "heat mug 1 with microwave 1", "go to cabinet 1", "open cabinet 1", "move mug 1 to cabinet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2b4db6b2622a71ad20788627e2e1716cb733f531 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Cabinet-3/trial_T20190909_014747_191766/initial_state.pddl @@ -0,0 +1,888 @@ + +(define (problem plan_trial_T20190909_014747_191766) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_81_bar__plus_02_dot_11 - object + Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_19 - object + Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_01_dot_42 - object + Bowl_bar__plus_00_dot_97_bar__plus_01_dot_52_bar__plus_01_dot_79 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_45 - object + DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_46_bar__plus_00_dot_71 - object + DishSponge_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_43 - object + DishSponge_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_01_dot_22 - object + Egg_bar__minus_01_dot_66_bar__plus_00_dot_32_bar__plus_02_dot_32 - object + Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_41 - object + Egg_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_63 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_05 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Kettle_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + Kettle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Knife_bar__plus_00_dot_21_bar__plus_01_dot_35_bar__minus_03_dot_12 - object + Lettuce_bar__minus_01_dot_38_bar__plus_01_dot_40_bar__minus_02_dot_98 - object + LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 - object + Mug_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_03_dot_16 - object + Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53 - object + Pan_bar__plus_00_dot_56_bar__plus_01_dot_32_bar__minus_03_dot_01 - object + Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + PaperTowelRoll_bar__minus_01_dot_38_bar__plus_01_dot_43_bar__minus_02_dot_76 - object + PepperShaker_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 - object + PepperShaker_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Plate_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68 - object + Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_61 - object + SaltShaker_bar__plus_01_dot_19_bar__plus_01_dot_20_bar__plus_01_dot_25 - object + SaltShaker_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_22 - object + Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 - object + Spatula_bar__minus_01_dot_65_bar__plus_01_dot_34_bar__minus_01_dot_26 - object + Spatula_bar__minus_01_dot_74_bar__plus_01_dot_34_bar__minus_01_dot_12 - object + Spoon_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + Spoon_bar__minus_01_dot_69_bar__plus_00_dot_42_bar__minus_00_dot_56 - object + Spoon_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__minus_03_dot_24 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__minus_02_dot_72 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_37 - object + WineBottle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 - object + WineBottle_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType) + (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType) + (objectType Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 SpatulaType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType Fork_bar__minus_01_dot_92_bar__plus_01_dot_34_bar__minus_01_dot_05 ForkType) + (objectType Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 KettleType) + (objectType SaltShaker_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_11 SaltShakerType) + (objectType Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 BreadType) + (objectType WineBottle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 WineBottleType) + (objectType DishSponge_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_43 DishSpongeType) + 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Egg_bar__minus_01_dot_83_bar__plus_01_dot_09_bar__minus_00_dot_41) + (heatable Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_19) + (heatable Bread_bar__minus_01_dot_53_bar__plus_01_dot_40_bar__plus_01_dot_09) + (heatable Egg_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_63) + (heatable Egg_bar__minus_01_dot_66_bar__plus_00_dot_32_bar__plus_02_dot_32) + (heatable Mug_bar__plus_00_dot_51_bar__plus_01_dot_32_bar__minus_03_dot_16) + (heatable Apple_bar__plus_01_dot_06_bar__plus_01_dot_81_bar__plus_02_dot_11) + (heatable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_45) + (heatable Tomato_bar__minus_01_dot_79_bar__plus_01_dot_36_bar__minus_02_dot_72) + (heatable Mug_bar__plus_00_dot_97_bar__plus_01_dot_37_bar__minus_01_dot_53) + (heatable Potato_bar__minus_02_dot_05_bar__plus_01_dot_36_bar__minus_01_dot_68) + (coolable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66) + (coolable 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Pan_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30) + (inReceptacle Pot_bar__minus_01_dot_82_bar__plus_00_dot_35_bar__plus_00_dot_61 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47) + (inReceptacle PepperShaker_bar__plus_00_dot_82_bar__plus_00_dot_34_bar__minus_01_dot_75 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle WineBottle_bar__plus_00_dot_82_bar__plus_00_dot_35_bar__minus_02_dot_37 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05) + (inReceptacle Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Bread_bar__minus_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 WineBottle_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle DishSponge_bar__minus_01_dot_31_bar__plus_01_dot_32_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Kettle_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Knife_bar__plus_00_dot_21_bar__plus_01_dot_35_bar__minus_03_dot_12 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Plate_bar__minus_02_dot_05_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 Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle 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SoapBottle_bar__plus_00_dot_86_bar__plus_01_dot_21_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87) + (inReceptacle DishSponge_bar__plus_00_dot_86_bar__plus_00_dot_46_bar__plus_00_dot_71 Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68) + (inReceptacle Apple_bar__plus_01_dot_06_bar__plus_01_dot_81_bar__plus_02_dot_11 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_79 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92) + (inReceptacle Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_19 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Egg_bar__minus_01_dot_66_bar__plus_00_dot_32_bar__plus_02_dot_32 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19) + (inReceptacle Egg_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_63 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{ + "x": -1.95454407, + "y": 1.04844725, + "z": -0.4510209 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Kettle_299f2c2a", + "position": { + "x": -2.04982138, + "y": 1.32404137, + "z": 1.094923 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_7c718722", + "position": { + "x": -1.6575036, + "y": 0.321009457, + "z": 2.316678 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_9d168802", + "position": { + "x": 0.5634017, + "y": 1.32260954, + "z": -3.01110744 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "SaltShaker_b13b6e3e", + "position": { + "x": 1.19326913, + "y": 1.2028, + "z": 1.25445545 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_560d3534", + "position": { + "x": 0.824245334, + "y": 0.3459003, + "z": -2.37100124 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_b5e01a1e", + "position": { + "x": -1.38003659, + "y": 1.39912164, + "z": -2.9817524 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_f0a2d64c", + "position": { + "x": -1.3086729, + "y": 1.33799994, + "z": -3.31436586 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PaperTowelRoll_ddd73f57", + "position": { + "x": -1.38003659, + "y": 1.42728543, + "z": -2.76001024 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_93b30017", + "position": { + "x": -1.79031563, + "y": 1.35692108, + "z": -2.72122478 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d5570300", + "position": { + "x": -2.04982138, + "y": 1.323614, + "z": 0.770108938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_c15f34b3", + "position": { + "x": 0.824245334, + "y": 0.339971542, + "z": -1.75116086 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": 0.8577638, + "y": 0.4601643, + "z": 0.710978568 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -2.04982066, + "y": 1.32412946, + "z": -3.24110079 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": -1.61049628, + "y": 0.32906872, + "z": 2.193 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.5068307, + "y": 1.318, + "z": -3.164938 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3416245209, + "scene_num": 3 + }, + "task_id": "trial_T20190909_014747_191766", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A31681CCEVDIH3_3MYYFCXHJ6YBEK7WHG79H8UKWRS4GN", + "high_descs": [ + "Turn left to face the coffee machine.", + "Pick up the white mug from the coffee machine.", + "Make a left to walk towards the microwave.", + "Heat up the mug in the microwave, removing it again.", + "Turn around and walk towards the sink.", + "Put the white mug underneath the sink in the cabinet to the right of the cabinet directly below it." + ], + "task_desc": "Heat up a mug to put it away in a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CPNA5L0J834N_3V5Q80FXI0I0HUGLINH15Z8D88G327", + "high_descs": [ + "look down and then turn left towards the counter", + "look at the coffee maker and grab a cup", + "turn left with the cup in your hand walk forward then turn right at the microwave", + "open up the microwave and then place cup inside and close the door turn on microwave then pull the cup back out close the door ", + "holding the cup turn left and then turn right towards the sink", + "open the cabinet and place cup inside on the shelf and then close the cabinet " + ], + "task_desc": "heat up a mug and place it in a cabinet", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A13OOAT2ORKH6V_3WZ36BJEV67Z4OEBGVG3O5FFWDNTBX", + "high_descs": [ + "Turn left to face the coffee maker on the counter.", + "Grab the cup on the coffee maker that's on the counter.", + "Turn left and walk to the microwave to your right that's on the stand.", + "Place the cup inside the microwave, warm it and remove it.", + "Turn right and walk to the cabinet under the sink to your right.", + "Place the warm cup in the cabinet underneath the sink." + ], + "task_desc": "Place a warm cup in the cabinet underneath the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..eaa0824dea92dd28e0fa2e93492831d7f430faf7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_235727_560816)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18 - object\n Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object\n Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object\n ButterKnife_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_28 - object\n Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object\n Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 - object\n Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49 - object\n Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13 - object\n DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33 - object\n DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82 - object\n DishSponge_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55 - object\n Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13 - object\n Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 - object\n Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object\n Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 - object\n Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51 - object\n Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_54 - object\n Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object\n Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 - object\n Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05 - object\n LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object\n Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object\n Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95 - object\n Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object\n PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28 - object\n PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 - object\n Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40 - object\n Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47 - object\n Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39 - object\n Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object\n SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_48 - object\n SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 - object\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 - object\n SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 - object\n SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_12_bar__plus_00_dot_36 - object\n Spatula_bar__minus_01_dot_21_bar__plus_00_dot_84_bar__plus_00_dot_53 - object\n Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 - object\n Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_25 - object\n Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44 - object\n Spoon_bar__minus_01_dot_86_bar__plus_00_dot_70_bar__plus_00_dot_30 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object\n Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13 - object\n Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 - object\n Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object\n 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loc_bar__minus_7_bar_4_bar_2_bar_15 - location\n loc_bar__minus_4_bar_10_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_0 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_10_bar_1_bar_60 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar_10_bar_1_bar_30 - location\n loc_bar__minus_7_bar_8_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType 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CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Tomato_bar__minus_02_dot_84_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)\n (inReceptacle DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (inReceptacle Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (inReceptacle Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_01_dot_21_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)\n (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)\n (inReceptacle Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (inReceptacle Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42)\n (inReceptacle DishSponge_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)\n (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)\n (inReceptacle SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_48 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83)\n (inReceptacle SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_12_bar__plus_00_dot_36 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (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)\n (inReceptacle Mug_bar__minus_02_dot_78_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)\n (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Egg_bar__minus_02_dot_91_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)\n (inReceptacle Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle Spoon_bar__minus_01_dot_86_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)\n (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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_86_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (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)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_12_bar__plus_00_dot_36 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_48 loc_bar__minus_8_bar_5_bar_3_bar__minus_15)\n (objectAtLocation Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15)\n (objectAtLocation Spatula_bar__minus_01_dot_21_bar__plus_00_dot_84_bar__plus_00_dot_53 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_54 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_25 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 loc_bar__minus_4_bar_4_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 3 from countertop 1", "go to microwave 1", "heat mug 3 with microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..612f6de2c522f6fcb350b90d7d3e541091baad3f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235727_560816/initial_state.pddl @@ -0,0 +1,966 @@ + +(define (problem plan_trial_T20190906_235727_560816) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18 - object + Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + ButterKnife_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 - object + Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49 - object + Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13 - object + DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33 - object + DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82 - object + DishSponge_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55 - object + Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13 - object + Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51 - object + Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_54 - object + Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 - object + Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 - object + Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05 - object + LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object + Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object + Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31 - 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_28 - object + PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 - object + Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40 - object + Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47 - object + Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_48 - object + SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 - object + SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 - object + SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_12_bar__plus_00_dot_36 - object + Spatula_bar__minus_01_dot_21_bar__plus_00_dot_84_bar__plus_00_dot_53 - object + Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 - object + Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_25 - object + Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44 - object + Spoon_bar__minus_01_dot_86_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_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13 - object + Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 - object + Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle + Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle + CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle + CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle + Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle + Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_15 - location + loc_bar__minus_4_bar_10_bar_2_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_0 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_7_bar_8_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType) + (receptacleType 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) + (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType) + (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType) + (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType) + (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType) + (objectType PepperShaker_bar__minus_02_dot_63_bar__plus_01_dot_43_bar__plus_00_dot_25 PepperShakerType) + (objectType SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 SaltShakerType) + (objectType Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 EggType) + (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType) + (objectType Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31 MugType) + (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType) + (objectType Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 LettuceType) + (objectType Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 ForkType) + (objectType DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82 DishSpongeType) + (objectType Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51 KnifeType) + (objectType Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 SpatulaType) + (objectType Spoon_bar__minus_01_dot_86_bar__plus_00_dot_70_bar__plus_00_dot_30 SpoonType) + (objectType Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13 EggType) + (objectType Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 CupType) + (objectType Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 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(openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (openable Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (openable Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (openable Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + + (atLocation agent1 loc_bar__minus_7_bar_8_bar_3_bar_30) + + (cleanable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23) + (cleanable Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31) + (cleanable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (cleanable Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13) + (cleanable DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82) + (cleanable Knife_bar__minus_02_dot_04_bar__plus_00_dot_85_bar__plus_00_dot_51) + (cleanable Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43) + (cleanable Spoon_bar__minus_01_dot_86_bar__plus_00_dot_70_bar__plus_00_dot_30) + (cleanable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13) + (cleanable Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable ButterKnife_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_28) + (cleanable Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_25) + (cleanable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13) + (cleanable Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47) + (cleanable Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40) + (cleanable DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33) + (cleanable Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44) + (cleanable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (cleanable Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88) + (cleanable Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (cleanable Knife_bar__minus_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_54) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48) + (cleanable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05) + (cleanable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39) + (cleanable Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95) + (cleanable Spatula_bar__minus_01_dot_21_bar__plus_00_dot_84_bar__plus_00_dot_53) + (cleanable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49) + (cleanable DishSponge_bar__minus_02_dot_56_bar__plus_00_dot_69_bar__plus_01_dot_55) + + (heatable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23) + (heatable Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31) + (heatable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13) + (heatable Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43) + (heatable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13) + (heatable Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47) + (heatable Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40) + (heatable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (heatable Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_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 Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (heatable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39) + (heatable Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95) + (heatable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49) + (coolable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23) + (coolable Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31) + (coolable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (coolable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13) + (coolable Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13) + (coolable Plate_bar__minus_02_dot_57_bar__plus_00_dot_13_bar__plus_01_dot_47) + (coolable Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40) + (coolable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (coolable Cup_bar__minus_02_dot_84_bar__plus_01_dot_14_bar__plus_02_dot_13) + (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39) + (coolable Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95) + (coolable Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_bar__plus_02_dot_49) + + (isCool Mug_bar__minus_02_dot_78_bar__plus_00_dot_82_bar__plus_02_dot_31) + + + + (sliceable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23) + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (sliceable Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_13) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_00_dot_87_bar__plus_00_dot_13) + (sliceable Apple_bar__minus_02_dot_74_bar__plus_00_dot_99_bar__plus_01_dot_18) + (sliceable Lettuce_bar__minus_02_dot_78_bar__plus_01_dot_53_bar__plus_02_dot_05) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96) + (sliceable Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39) + + (inReceptacle DishSponge_bar__minus_02_dot_46_bar__plus_01_dot_85_bar__plus_01_dot_82 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 Spoon_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_25 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (inReceptacle Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_01_dot_68 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68) + (inReceptacle Cup_bar__minus_00_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_bar__minus_02_dot_38_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 ButterKnife_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_02_dot_50_bar__plus_00_dot_85_bar__plus_00_dot_54 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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 Tomato_bar__minus_02_dot_84_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 DishSponge_bar__minus_00_dot_48_bar__plus_00_dot_82_bar__plus_01_dot_33 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_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 Fork_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Mug_bar__minus_02_dot_74_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SoapBottle_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_01_dot_21_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 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_51 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_43 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Ladle_bar__minus_00_dot_37_bar__plus_00_dot_74_bar__plus_00_dot_88 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (inReceptacle Spoon_bar__minus_01_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_44 Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (inReceptacle DishSponge_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 SaltShaker_bar__minus_02_dot_87_bar__plus_01_dot_43_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_02_dot_84_bar__plus_01_dot_43_bar__plus_01_dot_48 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle SoapBottle_bar__minus_02_dot_12_bar__plus_00_dot_12_bar__plus_00_dot_36 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Plate_bar__minus_01_dot_41_bar__plus_00_dot_13_bar__plus_00_dot_40 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle 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 Mug_bar__minus_02_dot_78_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 Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 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_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Tomato_bar__minus_02_dot_89_bar__plus_00_dot_87_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Cup_bar__minus_02_dot_84_bar__plus_00_dot_83_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_84_bar__plus_01_dot_14_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_91_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_74_bar__plus_00_dot_99_bar__plus_01_dot_18 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Egg_bar__minus_02_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_23 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Potato_bar__minus_02_dot_74_bar__plus_00_dot_96_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_05_bar__plus_02_dot_64 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + (inReceptacle Spoon_bar__minus_01_dot_86_bar__plus_00_dot_70_bar__plus_00_dot_30 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 loc_bar__minus_4_bar_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 loc_bar__minus_4_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_4_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 loc_bar__minus_5_bar_4_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_4_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 loc_bar__minus_6_bar_6_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 loc_bar__minus_7_bar_9_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 loc_bar__minus_7_bar_7_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 loc_bar__minus_6_bar_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 loc_bar__minus_8_bar_4_bar_2_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 loc_bar__minus_6_bar_4_bar_3_bar_0) + (receptacleAtLocation 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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 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"Mug_57da2f86", + "position": { + "x": -0.646999955, + "y": 0.8882107, + "z": 0.3674 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_4c742e05", + "position": { + "x": -0.397978365, + "y": 0.115337931, + "z": 0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2885808270, + "scene_num": 25 + }, + "task_id": "trial_T20190906_235727_560816", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_3CTOC39K3A7A3KTIVC12GBM8KL67JN", + "high_descs": [ + "Turn around and head to the coffee-maker on the right.", + "Pick up the cup from the coffee-maker.", + "Turn right and head to the microwave on the counter.", + "Put the cup in the microwave, heat it up, then take it out and close the microwave.", + "Turn around and head to the coffee-maker on the counter on your right.", + "Put the cup in the coffee-maker on the counter." + ], + "task_desc": "Heat up a cup of coffee.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1HKHM4NVAO98H_3GD6L00D3VEMT6K19TXLVTNCLU81MX", + "high_descs": [ + "go to the coffee maker on the counter", + "pick up the cup off of the coffee maker", + "turn around and walk over to the microwave", + "place the cup inside the microwave, microwave the cup, and then pick it up again", + "walk back over to the coffee maker", + "place the coffee cup underneath the spout of the coffee maker" + ], + "task_desc": "put a microwaved cup underneath the coffee maker spout", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2L22HZ50T83UK_3QFUFYSY91WXFVP3AOCAY1A60AMF4R", + "high_descs": [ + "Turn left, walk across the kitchen and then turn right so you are standing in front of the countertop. ", + "Pick up the white mug that is under the coffee machine. ", + "Turn right and carry the mug over to the microwave.", + "Open the microwave, heat the mug in it then remove it and close the microwave door again. ", + "Turn around to the left and walk back over to the counter-top. ", + "Place the mug back in to the coffee machine. " + ], + "task_desc": "Pick up the mug from the coffee machine, heat it in the microwave before returning it to the coffee machine. ", + "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-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f2f9bf40457f4148239ec4d0015eb5b088ccc9fd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/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 mug and put it in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_235756_721785)\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_54_bar__plus_00_dot_75_bar__plus_00_dot_19 - object\n Bowl_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 - object\n Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 - object\n Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object\n ButterKnife_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_54 - object\n ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object\n ButterKnife_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 - object\n Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object\n Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 - object\n Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28 - object\n DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 - object\n DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_06 - object\n Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67 - object\n Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 - object\n Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object\n Fork_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_66 - object\n Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_47 - object\n Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_51 - object\n Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object\n Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 - object\n Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05 - object\n Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_22 - object\n LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object\n Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object\n PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09 - object\n PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 - object\n PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 - object\n Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 - object\n Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 - object\n Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88 - object\n Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 - object\n Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13 - object\n Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object\n SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_20 - object\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_05_bar__plus_02_dot_67 - object\n SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 - object\n Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_28 - object\n 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StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle\n loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar_10_bar_1_bar_45 - location\n loc_bar__minus_7_bar_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_15 - location\n loc_bar__minus_4_bar_10_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_0 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_10_bar_1_bar_60 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_45 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar_10_bar_1_bar_30 - location\n loc_bar__minus_8_bar_10_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType 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(receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType 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(canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n 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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)\n (inReceptacle Spoon_bar__minus_00_dot_82_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)\n (inReceptacle Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (inReceptacle Spoon_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)\n (inReceptacle Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_51 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (inReceptacle ButterKnife_bar__minus_01_dot_71_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)\n (inReceptacle PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle ButterKnife_bar__minus_02_dot_81_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)\n (inReceptacle SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (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)\n (inReceptacle Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle DishSponge_bar__minus_02_dot_84_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)\n (inReceptacle DishSponge_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)\n (inReceptacle Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51)\n (inReceptacle Fork_bar__minus_02_dot_70_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)\n (inReceptacle Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23)\n (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58)\n (inReceptacle PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67)\n (inReceptacle Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle Lettuce_bar__minus_02_dot_73_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)\n (inReceptacle Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35)\n (inReceptacle SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_05_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61)\n (inReceptacle Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19 Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin)\n (inReceptacle Bowl_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)\n (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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Bowl_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)\n (objectAtLocation Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_06 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 loc_bar__minus_6_bar_4_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_22 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09 loc_bar__minus_8_bar_4_bar_2_bar__minus_15)\n (objectAtLocation Spoon_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (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)\n (objectAtLocation Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_05_bar__plus_02_dot_67 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_51 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28 loc_bar__minus_8_bar_5_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_54 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (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)\n (objectAtLocation Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 loc_bar__minus_7_bar_9_bar_3_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 1 from countertop 1", "go to microwave 1", "heat mug 1 with microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..5c6832ee3e5df71529bafd58b611d0ae26602be2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235756_721785/initial_state.pddl @@ -0,0 +1,942 @@ + +(define (problem plan_trial_T20190906_235756_721785) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_54_bar__plus_00_dot_75_bar__plus_00_dot_19 - object + Bowl_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 - object + Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 - object + Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25 - object + ButterKnife_bar__minus_01_dot_71_bar__plus_00_dot_82_bar__plus_00_dot_54 - object + ButterKnife_bar__minus_02_dot_49_bar__plus_00_dot_81_bar__plus_00_dot_48 - object + ButterKnife_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 - object + Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object + Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 - object + Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28 - object + DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_06 - object + Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67 - object + Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_66 - object + Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + Knife_bar__minus_01_dot_88_bar__plus_00_dot_85_bar__plus_00_dot_51 - object + Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 - object + Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 - object + Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05 - object + Lettuce_bar__minus_02_dot_73_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_02_dot_08 - object + PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09 - object + PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 - object + PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 - object + Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 - object + Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 - object + Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88 - object + Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 - object + Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_bar__plus_00_dot_20 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_00_dot_30_bar__plus_00_dot_05_bar__plus_02_dot_67 - object + SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 - object + Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_bar__plus_00_dot_28 - object + Spoon_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_28 - object + Spoon_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 - object + Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99 - 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_8_bar_10_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType) + (receptacleType 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) + (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType) + (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType) + (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType) + (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType) + (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType) + (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType) + (objectType Spoon_bar__minus_00_dot_82_bar__plus_00_dot_82_bar__plus_00_dot_28 SpoonType) + (objectType Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_22 LettuceType) + (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType) + (objectType Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 LadleType) + (objectType Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 CupType) + (objectType Spoon_bar__minus_02_dot_49_bar__plus_00_dot_82_bar__plus_00_dot_13 SpoonType) + (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType) + (objectType Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 PlateType) + (objectType Fork_bar__minus_00_dot_40_bar__plus_00_dot_82_bar__plus_00_dot_66 ForkType) + (objectType PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 PepperShakerType) + (objectType Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28 CupType) + (objectType Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 SpoonType) + (objectType Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 PanType) + (objectType PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 PepperShakerType) + (objectType Bowl_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 BowlType) + (objectType DishSponge_bar__minus_02_dot_60_bar__plus_00_dot_69_bar__plus_01_dot_47 DishSpongeType) + (objectType Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 EggType) + (objectType Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19 AppleType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 StoveKnobType) + (objectType SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 SoapBottleType) + (objectType ButterKnife_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 ButterKnifeType) + (objectType Fork_bar__minus_02_dot_70_bar__plus_00_dot_69_bar__plus_01_dot_47 ForkType) + (objectType Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 PlateType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 StoveKnobType) + (objectType 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Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28) + (heatable Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34) + (heatable Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19) + (heatable Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27) + (heatable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (heatable Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99) + (heatable Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88) + (heatable Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67) + (heatable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (heatable Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13) + (coolable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_22) + (coolable Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10) + (coolable Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44) + (coolable Cup_bar__minus_02_dot_78_bar__plus_00_dot_92_bar__plus_01_dot_28) + (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (coolable Bowl_bar__minus_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30) + (coolable Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34) + (coolable Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19) + (coolable Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27) + (coolable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (coolable Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99) + (coolable Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88) + (coolable Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67) + (coolable Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05) + (coolable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (coolable Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42) + (coolable Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13) + + + + + + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_22) + (sliceable Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34) + (sliceable Apple_bar__minus_01_dot_54_bar__plus_00_dot_75_bar__plus_00_dot_19) + (sliceable Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39) + (sliceable Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_bar__plus_00_dot_99) + (sliceable Potato_bar__minus_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88) + (sliceable Egg_bar__minus_00_dot_43_bar__plus_00_dot_08_bar__plus_02_dot_67) + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05) + (sliceable Bread_bar__minus_00_dot_98_bar__plus_00_dot_86_bar__plus_00_dot_25) + (sliceable Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_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 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 Spoon_bar__minus_00_dot_82_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 Ladle_bar__minus_02_dot_61_bar__plus_00_dot_87_bar__plus_00_dot_28 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Cup_bar__minus_00_dot_09_bar__plus_00_dot_82_bar__plus_01_dot_10 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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 Spoon_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 Tomato_bar__minus_00_dot_40_bar__plus_00_dot_87_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_00_dot_48_bar__plus_00_dot_86_bar__plus_00_dot_88 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Spatula_bar__minus_02_dot_38_bar__plus_00_dot_84_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_88_bar__plus_00_dot_85_bar__plus_00_dot_51 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 ButterKnife_bar__minus_01_dot_71_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 PepperShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_02_dot_81_bar__plus_00_dot_82_bar__plus_00_dot_87 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_01_dot_15_bar__plus_00_dot_82_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 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 Knife_bar__minus_02_dot_66_bar__plus_00_dot_82_bar__plus_00_dot_56 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_02_dot_84_bar__plus_00_dot_82_bar__plus_00_dot_06 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle DishSponge_bar__minus_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 Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (inReceptacle Fork_bar__minus_02_dot_70_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 Plate_bar__minus_02_dot_81_bar__plus_01_dot_44_bar__plus_00_dot_27 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (inReceptacle PepperShaker_bar__minus_02_dot_36_bar__plus_01_dot_43_bar__plus_00_dot_09 Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23) + (inReceptacle Bowl_bar__minus_02_dot_54_bar__plus_01_dot_85_bar__plus_02_dot_42 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + (inReceptacle PepperShaker_bar__minus_02_dot_69_bar__plus_00_dot_12_bar__plus_01_dot_43 Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (inReceptacle Plate_bar__minus_02_dot_00_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle Lettuce_bar__minus_02_dot_73_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 Potato_bar__minus_02_dot_84_bar__plus_01_dot_18_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_00_dot_91_bar__plus_02_dot_05 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (inReceptacle Egg_bar__minus_02_dot_71_bar__plus_00_dot_95_bar__plus_01_dot_34 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_28 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle Potato_bar__minus_02_dot_84_bar__plus_00_dot_96_bar__plus_01_dot_39 Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (inReceptacle SoapBottle_bar__minus_00_dot_36_bar__plus_00_dot_05_bar__plus_02_dot_54 GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61) + 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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_01_dot_97_bar__plus_00_dot_70_bar__plus_00_dot_30 loc_bar__minus_6_bar_5_bar_2_bar_45) + (objectAtLocation Spoon_bar__minus_02_dot_50_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45) + (objectAtLocation 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", + "Bring the mug to the coffee machine.", + "Put the mug on the coffee machine." + ], + "task_desc": "Put a heated mug on the coffee machine. ", + "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-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b0acf8c2790a4c61773666f43a2dbd17391a1704 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in coffeemachine.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190906_235820_544769)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49 - object\n Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 - object\n Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 - object\n ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 - object\n ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 - object\n ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 - object\n Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 - object\n Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 - object\n Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96 - object\n Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13 - object\n DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 - object\n DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 - object\n DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 - object\n Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 - object\n Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 - object\n Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object\n Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95 - object\n Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 - object\n Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26 - object\n Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - object\n Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 - object\n Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13 - object\n LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object\n Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object\n Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object\n PepperShaker_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 - object\n PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16 - object\n PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 - object\n Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 - object\n Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55 - object\n Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13 - object\n Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99 - object\n Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object\n SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 - object\n SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 - object\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object\n SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 - object\n SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 - object\n Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 - object\n Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35 - object\n Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45 - object\n Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 - object\n Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object\n StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object\n Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96 - object\n Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object\n Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle\n Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle\n Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle\n Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle\n Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle\n Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle\n Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle\n Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle\n Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle\n Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle\n CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle\n CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle\n Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle\n Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle\n Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle\n Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle\n Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle\n Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle\n StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle\n Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle\n loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar_10_bar_1_bar_45 - location\n loc_bar__minus_7_bar_7_bar_3_bar_45 - location\n loc_bar__minus_5_bar_5_bar_2_bar_45 - location\n loc_bar__minus_6_bar_5_bar_2_bar_45 - location\n loc_bar__minus_5_bar_4_bar_2_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location\n loc_bar__minus_5_bar_5_bar_1_bar_45 - location\n loc_bar__minus_4_bar_11_bar_1_bar_30 - location\n loc_bar__minus_7_bar_4_bar_2_bar_15 - location\n loc_bar__minus_4_bar_10_bar_2_bar_60 - location\n loc_bar__minus_6_bar_4_bar_3_bar_0 - location\n loc_bar__minus_4_bar_4_bar_1_bar_60 - location\n loc_bar__minus_7_bar_9_bar_3_bar_60 - location\n loc_bar__minus_5_bar_4_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_2_bar_60 - location\n loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_10_bar_1_bar_60 - location\n loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_3_bar_60 - location\n loc_bar__minus_4_bar_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar_4_bar_2_bar_45 - location\n loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar_6_bar_1_bar_60 - location\n loc_bar__minus_8_bar_5_bar_3_bar_45 - location\n loc_bar__minus_8_bar_6_bar_3_bar_60 - location\n loc_bar__minus_4_bar_4_bar_2_bar_60 - location\n loc_bar__minus_4_bar_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar_6_bar_1_bar_45 - location\n loc_bar__minus_4_bar_10_bar_1_bar_30 - location\n loc_bar__minus_6_bar_9_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType)\n (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType)\n (receptacleType Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 DrawerType)\n (receptacleType StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 GarbageCanType)\n (receptacleType CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 CoffeeMachineType)\n (receptacleType Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType)\n (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType)\n (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType)\n (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType)\n (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType)\n (objectType Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 BreadType)\n (objectType Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 PlateType)\n (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType)\n (objectType Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 SpatulaType)\n (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType)\n (objectType Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 LettuceType)\n (objectType Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45 SpoonType)\n (objectType PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 PepperShakerType)\n (objectType SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 SaltShakerType)\n (objectType ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 ButterKnifeType)\n (objectType Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 WindowType)\n (objectType Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96 CupType)\n (objectType Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49 AppleType)\n (objectType Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 SpoonType)\n (objectType DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 DishSpongeType)\n (objectType Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 PanType)\n (objectType DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 DishSpongeType)\n (objectType Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 SpoonType)\n (objectType Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95 ForkType)\n (objectType Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 LettuceType)\n (objectType ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 ButterKnifeType)\n (objectType Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13 CupType)\n (objectType Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55 PlateType)\n (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 StoveKnobType)\n (objectType SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 SoapBottleType)\n (objectType Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 BowlType)\n (objectType PepperShaker_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 PepperShakerType)\n (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 StoveKnobType)\n (objectType SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 SoapBottleType)\n (objectType Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96 TomatoType)\n (objectType Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 MugType)\n (objectType PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16 PepperShakerType)\n (objectType ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 ButterKnifeType)\n (objectType LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 LightSwitchType)\n (objectType Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 CupType)\n (objectType Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 PotType)\n (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 StoveKnobType)\n (objectType Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 EggType)\n (objectType SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 SaltShakerType)\n (objectType Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35 SpatulaType)\n (objectType Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13 LettuceType)\n (objectType Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 KnifeType)\n (objectType DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 DishSpongeType)\n (objectType Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13 PlateType)\n (objectType Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26 LadleType)\n (objectType Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99 PotatoType)\n (objectType Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 EggType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain CoffeeMachineType MugType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType LadleType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType LettuceType)\n (canContain CounterTopType PotatoType)\n (canContain CounterTopType ButterKnifeType)\n (canContain CounterTopType CupType)\n (canContain CounterTopType PlateType)\n (canContain CounterTopType PepperShakerType)\n (canContain CounterTopType TomatoType)\n (canContain CounterTopType KnifeType)\n (canContain CounterTopType AppleType)\n (canContain CounterTopType PanType)\n (canContain CounterTopType SpatulaType)\n (canContain FridgeType BreadType)\n (canContain FridgeType BowlType)\n (canContain FridgeType PotType)\n (canContain FridgeType MugType)\n (canContain FridgeType EggType)\n (canContain FridgeType LettuceType)\n (canContain FridgeType PotatoType)\n (canContain FridgeType CupType)\n (canContain FridgeType PlateType)\n (canContain FridgeType TomatoType)\n (canContain FridgeType AppleType)\n (canContain FridgeType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType LadleType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ButterKnifeType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain SinkBasinType DishSpongeType)\n (canContain SinkBasinType BowlType)\n (canContain SinkBasinType PotType)\n (canContain SinkBasinType MugType)\n (canContain SinkBasinType EggType)\n (canContain SinkBasinType LadleType)\n (canContain SinkBasinType ForkType)\n (canContain SinkBasinType SpoonType)\n (canContain SinkBasinType LettuceType)\n (canContain SinkBasinType PotatoType)\n (canContain SinkBasinType ButterKnifeType)\n (canContain SinkBasinType CupType)\n (canContain SinkBasinType PlateType)\n (canContain SinkBasinType TomatoType)\n (canContain SinkBasinType KnifeType)\n (canContain SinkBasinType AppleType)\n (canContain SinkBasinType PanType)\n (canContain SinkBasinType SpatulaType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (pickupable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24)\n (pickupable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44)\n (pickupable Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13)\n (pickupable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31)\n (pickupable Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45)\n (pickupable PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94)\n (pickupable SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71)\n (pickupable 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Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55)\n (pickupable SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48)\n (pickupable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91)\n (pickupable PepperShaker_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50)\n (pickupable SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32)\n (pickupable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96)\n (pickupable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37)\n (pickupable PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16)\n (pickupable ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28)\n (pickupable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95)\n (pickupable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10)\n (pickupable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40)\n 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Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95)\n (cleanable Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95)\n (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24)\n (cleanable ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35)\n (cleanable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13)\n (cleanable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55)\n (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91)\n (cleanable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96)\n (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37)\n (cleanable ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28)\n (cleanable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95)\n (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10)\n (cleanable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40)\n (cleanable Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35)\n (cleanable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13)\n (cleanable Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54)\n (cleanable DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67)\n (cleanable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13)\n (cleanable Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26)\n (cleanable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99)\n (cleanable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13)\n \n (heatable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24)\n (heatable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44)\n (heatable Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96)\n (heatable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49)\n (heatable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13)\n (heatable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55)\n (heatable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96)\n (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37)\n (heatable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95)\n (heatable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40)\n (heatable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13)\n (heatable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99)\n (heatable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13)\n (coolable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24)\n (coolable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44)\n (coolable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31)\n (coolable Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96)\n (coolable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49)\n (coolable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08)\n (coolable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24)\n (coolable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13)\n (coolable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55)\n (coolable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91)\n (coolable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96)\n (coolable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37)\n (coolable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95)\n (coolable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10)\n (coolable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40)\n (coolable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13)\n (coolable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13)\n (coolable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99)\n (coolable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13)\n \n \n \n \n \n (sliceable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24)\n (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31)\n (sliceable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49)\n (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24)\n (sliceable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96)\n (sliceable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40)\n (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13)\n (sliceable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99)\n (sliceable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13)\n \n (inReceptacle DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72)\n (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)\n (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25)\n (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)\n (inReceptacle Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle PepperShaker_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)\n (inReceptacle Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (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)\n (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)\n (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)\n (inReceptacle Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle ButterKnife_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)\n (inReceptacle ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28)\n (inReceptacle Fork_bar__minus_00_dot_40_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)\n (inReceptacle Spoon_bar__minus_00_dot_78_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)\n (inReceptacle Spoon_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)\n (inReceptacle PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16 Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51)\n (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)\n (inReceptacle PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83)\n (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82)\n (inReceptacle Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (inReceptacle SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56)\n (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)\n (inReceptacle Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Plate_bar__minus_02_dot_84_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)\n (inReceptacle Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (inReceptacle Apple_bar__minus_02_dot_67_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)\n (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)\n (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)\n \n \n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (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)\n (objectAtLocation Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 loc_bar__minus_7_bar_7_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 loc_bar__minus_8_bar_4_bar_3_bar__minus_15)\n (objectAtLocation PepperShaker_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 loc_bar__minus_6_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 loc_bar__minus_6_bar_6_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55 loc_bar__minus_8_bar_6_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45 loc_bar__minus_5_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 loc_bar__minus_5_bar_4_bar_1_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 loc_bar__minus_4_bar_10_bar_2_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 loc_bar__minus_4_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 loc_bar__minus_4_bar_10_bar_1_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95 loc_bar__minus_5_bar_5_bar_1_bar_45)\n (objectAtLocation Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26 loc_bar__minus_6_bar_4_bar_3_bar_0)\n (objectAtLocation Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 loc_bar__minus_4_bar_10_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 loc_bar__minus_4_bar_6_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 loc_bar__minus_4_bar_10_bar_1_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 loc_bar__minus_7_bar_4_bar_2_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 loc_bar__minus_7_bar_4_bar_2_bar_60)\n (objectAtLocation Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13 loc_bar__minus_7_bar_9_bar_3_bar_60)\n (objectAtLocation PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 loc_bar__minus_8_bar_5_bar_3_bar__minus_15)\n (objectAtLocation LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 loc_bar__minus_4_bar_11_bar_1_bar_30)\n (objectAtLocation DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 loc_bar__minus_7_bar_7_bar_3_bar__minus_30)\n (objectAtLocation Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 loc_bar__minus_4_bar_4_bar_2_bar_45)\n (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)\n (objectAtLocation Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91 loc_bar__minus_4_bar_4_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r CoffeeMachineType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 1 from countertop 1", "go to microwave 1", "heat mug 1 with microwave 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b66057aa4fa28dbd6b6e548feb151a2155b985e0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-CoffeeMachine-25/trial_T20190906_235820_544769/initial_state.pddl @@ -0,0 +1,946 @@ + +(define (problem plan_trial_T20190906_235820_544769) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_67_bar__plus_00_dot_90_bar__plus_02_dot_49 - 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_24 - object + ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20 - object + ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 - object + ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_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_50_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96 - object + Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13 - object + DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 - object + DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 - object + DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 - object + Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13 - object + Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 - object + Faucet_bar__minus_01_dot_69_bar__plus_00_dot_95_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95 - object + Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54 - object + Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26 - object + Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24 - object + Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 - object + Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13 - object + LightSwitch_bar__minus_00_dot_62_bar__plus_01_dot_38_bar__plus_03_dot_00 - object + Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37 - object + Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 - object + PepperShaker_bar__minus_00_dot_98_bar__plus_00_dot_82_bar__plus_00_dot_50 - object + PepperShaker_bar__minus_02_dot_65_bar__plus_01_dot_43_bar__plus_00_dot_16 - object + PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 - object + Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 - object + Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55 - object + Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13 - object + Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99 - object + Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10 - object + SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 - object + SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 - object + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 - object + SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 - object + SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 - object + Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 - object + Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35 - object + Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45 - object + Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 - object + Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_61 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_01_dot_77 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_02 - object + StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 - object + Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96 - object + Window_bar__minus_01_dot_72_bar__plus_01_dot_34_bar__minus_00_dot_21 - object + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 - receptacle + Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_01_dot_41 - receptacle + Cabinet_bar__minus_00_dot_73_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 - receptacle + Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 - receptacle + Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 - receptacle + Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 - receptacle + Cabinet_bar__minus_02_dot_46_bar__plus_01_dot_80_bar__plus_00_dot_23 - receptacle + Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 - receptacle + Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83 - receptacle + CoffeeMachine_bar__minus_00_dot_54_bar__plus_00_dot_81_bar__plus_00_dot_19 - receptacle + CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91 - receptacle + Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25 - receptacle + Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 - receptacle + Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 - receptacle + Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__plus_02_dot_61 - receptacle + Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 - receptacle + Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_01_dot_68 - receptacle + StoveBurner_bar__minus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_08 - receptacle + Toaster_bar__minus_00_dot_17_bar__plus_00_dot_81_bar__plus_00_dot_74 - receptacle + loc_bar__minus_8_bar_4_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar_10_bar_1_bar_45 - location + loc_bar__minus_7_bar_7_bar_3_bar_45 - location + loc_bar__minus_5_bar_5_bar_2_bar_45 - location + loc_bar__minus_6_bar_5_bar_2_bar_45 - location + loc_bar__minus_5_bar_4_bar_2_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar__minus_15 - location + loc_bar__minus_5_bar_5_bar_1_bar_45 - location + loc_bar__minus_4_bar_11_bar_1_bar_30 - location + loc_bar__minus_7_bar_4_bar_2_bar_15 - location + loc_bar__minus_4_bar_10_bar_2_bar_60 - location + loc_bar__minus_6_bar_4_bar_3_bar_0 - location + loc_bar__minus_4_bar_4_bar_1_bar_60 - location + loc_bar__minus_7_bar_9_bar_3_bar_60 - location + loc_bar__minus_5_bar_4_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_2_bar_60 - location + loc_bar__minus_7_bar_7_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_10_bar_1_bar_60 - location + loc_bar__minus_8_bar_4_bar_3_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_6_bar_1_bar_30 - location + loc_bar__minus_4_bar_4_bar_2_bar_45 - location + loc_bar__minus_7_bar_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar_6_bar_1_bar_60 - location + loc_bar__minus_8_bar_5_bar_3_bar_45 - location + loc_bar__minus_8_bar_6_bar_3_bar_60 - location + loc_bar__minus_4_bar_4_bar_2_bar_60 - location + loc_bar__minus_4_bar_4_bar_1_bar_45 - location + loc_bar__minus_4_bar_6_bar_1_bar_45 - location + loc_bar__minus_4_bar_10_bar_1_bar_30 - location + loc_bar__minus_6_bar_9_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 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_01_dot_68 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42 DrawerType) + (receptacleType Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35 MicrowaveType) + (receptacleType Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82 CabinetType) + (receptacleType 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DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_55_bar__plus_00_dot_39_bar__plus_00_dot_75 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28 CounterTopType) + (receptacleType Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22 FridgeType) + (receptacleType Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_26_bar__plus_00_dot_39_bar__plus_00_dot_57 CabinetType) + (receptacleType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34_bar_SinkBasin SinkBasinType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08 StoveBurnerType) + (receptacleType Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58 CabinetType) + (objectType StoveKnob_bar__minus_00_dot_07_bar__plus_01_dot_00_bar__plus_02_dot_17 StoveKnobType) + (objectType Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 BreadType) + (objectType Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 PlateType) + (objectType Chair_bar__minus_00_dot_91_bar__plus_00_dot_01_bar__plus_02_dot_12 ChairType) + (objectType Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13 SpatulaType) + (objectType Sink_bar__minus_01_dot_84_bar__plus_00_dot_73_bar__plus_00_dot_34 SinkType) + (objectType Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31 LettuceType) + (objectType Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45 SpoonType) + (objectType PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94 PepperShakerType) + (objectType 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+ (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) + (pickupable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24) + (pickupable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44) + (pickupable Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13) + (pickupable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (pickupable Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45) + (pickupable PepperShaker_bar__minus_02_dot_88_bar__plus_01_dot_43_bar__plus_00_dot_94) + (pickupable SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71) + (pickupable ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20) + (pickupable Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96) + (pickupable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49) + (pickupable Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47) + (pickupable DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88) + (pickupable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (pickupable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33) + (pickupable Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95) + (pickupable Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95) + (pickupable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (pickupable ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35) + (pickupable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13) + (pickupable 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(pickupable SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20) + (pickupable Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35) + (pickupable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13) + (pickupable Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54) + (pickupable DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67) + (pickupable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13) + (pickupable Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26) + (pickupable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (pickupable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13) + (isReceptacleObject Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44) + (isReceptacleObject Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96) + (isReceptacleObject Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (isReceptacleObject Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13) + (isReceptacleObject Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55) + (isReceptacleObject Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (isReceptacleObject Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (isReceptacleObject Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95) + (isReceptacleObject Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (isReceptacleObject Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_91) + (openable Cabinet_bar__minus_02_dot_77_bar__plus_01_dot_80_bar__plus_00_dot_51) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (openable Cabinet_bar__minus_02_dot_44_bar__plus_00_dot_39_bar__plus_01_dot_67) + (openable Drawer_bar__minus_01_dot_13_bar__plus_00_dot_71_bar__plus_00_dot_42) + (openable Microwave_bar__minus_02_dot_80_bar__plus_00_dot_81_bar__plus_01_dot_35) + (openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (openable Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (openable Drawer_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_01_dot_25) + (openable Drawer_bar__minus_00_dot_86_bar__plus_00_dot_71_bar__plus_00_dot_42) + (openable Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + (openable Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Drawer_bar__minus_02_dot_59_bar__plus_00_dot_70_bar__plus_01_dot_51) + (openable Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (openable Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_01_bar__plus_02_dot_58) + + (atLocation agent1 loc_bar__minus_6_bar_9_bar_1_bar_30) + + (cleanable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44) + (cleanable Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_bar__plus_00_dot_13) + (cleanable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (cleanable Spoon_bar__minus_00_dot_78_bar__plus_00_dot_71_bar__plus_00_dot_45) + (cleanable ButterKnife_bar__minus_00_dot_82_bar__plus_00_dot_81_bar__plus_00_dot_20) + (cleanable Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96) + (cleanable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49) + (cleanable Spoon_bar__minus_02_dot_63_bar__plus_00_dot_69_bar__plus_01_dot_47) + (cleanable DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88) + (cleanable Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08) + (cleanable DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33) + (cleanable Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95) + (cleanable Fork_bar__minus_00_dot_40_bar__plus_00_dot_70_bar__plus_00_dot_95) + (cleanable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (cleanable ButterKnife_bar__minus_02_dot_38_bar__plus_00_dot_82_bar__plus_00_dot_35) + (cleanable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13) + (cleanable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55) + (cleanable Bowl_bar__minus_00_dot_40_bar__plus_00_dot_12_bar__plus_00_dot_91) + (cleanable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96) + (cleanable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (cleanable ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28) + (cleanable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95) + (cleanable Pot_bar__minus_00_dot_53_bar__plus_00_dot_82_bar__plus_02_dot_10) + (cleanable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40) + (cleanable Spatula_bar__minus_02_dot_84_bar__plus_00_dot_84_bar__plus_00_dot_35) + (cleanable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13) + (cleanable Knife_bar__minus_01_dot_71_bar__plus_00_dot_85_bar__plus_00_dot_54) + (cleanable DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67) + (cleanable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13) + (cleanable Ladle_bar__minus_02_dot_75_bar__plus_01_dot_48_bar__plus_00_dot_26) + (cleanable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (cleanable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13) + + (heatable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24) + (heatable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44) + (heatable Cup_bar__minus_02_dot_67_bar__plus_01_dot_45_bar__plus_01_dot_96) + (heatable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49) + (heatable Cup_bar__minus_02_dot_78_bar__plus_01_dot_45_bar__plus_02_dot_13) + (heatable Plate_bar__minus_02_dot_61_bar__plus_00_dot_13_bar__plus_01_dot_55) + (heatable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96) + (heatable Mug_bar__minus_00_dot_65_bar__plus_00_dot_89_bar__plus_00_dot_37) + (heatable Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95) + (heatable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40) + (heatable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13) + (heatable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (heatable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13) + (coolable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24) + (coolable Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44) + (coolable 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Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40) + (coolable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13) + (coolable Plate_bar__minus_02_dot_84_bar__plus_01_dot_15_bar__plus_02_dot_13) + (coolable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (coolable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13) + + + + + + (sliceable Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24) + (sliceable Lettuce_bar__minus_02_dot_73_bar__plus_01_dot_53_bar__plus_02_dot_31) + (sliceable Apple_bar__minus_02_dot_67_bar__plus_00_dot_90_bar__plus_02_dot_49) + (sliceable Lettuce_bar__minus_01_dot_84_bar__plus_00_dot_74_bar__plus_00_dot_24) + (sliceable Tomato_bar__minus_02_dot_84_bar__plus_01_dot_19_bar__plus_01_dot_96) + (sliceable Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40) + (sliceable Lettuce_bar__minus_02_dot_84_bar__plus_00_dot_91_bar__plus_02_dot_13) + (sliceable Potato_bar__minus_00_dot_17_bar__plus_00_dot_86_bar__plus_00_dot_99) + (sliceable Egg_bar__minus_02_dot_26_bar__plus_00_dot_85_bar__plus_00_dot_13) + + (inReceptacle DishSponge_bar__minus_02_dot_62_bar__plus_01_dot_85_bar__plus_01_dot_88 Cabinet_bar__minus_02_dot_38_bar__plus_02_dot_02_bar__plus_01_dot_72) + (inReceptacle Pan_bar__minus_00_dot_24_bar__plus_00_dot_83_bar__plus_02_dot_08 StoveBurner_bar__minus_00_dot_24_bar__plus_00_dot_82_bar__plus_02_dot_08) + (inReceptacle DishSponge_bar__minus_00_dot_36_bar__plus_00_dot_70_bar__plus_01_dot_33 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 Bread_bar__minus_00_dot_97_bar__plus_00_dot_86_bar__plus_00_dot_24 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle PepperShaker_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 Spoon_bar__minus_02_dot_58_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_72_bar__plus_00_dot_82_bar__plus_00_dot_20 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 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 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 Spatula_bar__minus_02_dot_49_bar__plus_00_dot_84_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_38_bar__plus_00_dot_82_bar__plus_00_dot_35 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle SaltShaker_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_71 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle ButterKnife_bar__minus_01_dot_15_bar__plus_00_dot_81_bar__plus_00_dot_28 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_20 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle Cup_bar__minus_02_dot_50_bar__plus_00_dot_82_bar__plus_00_dot_95 CounterTop_bar__minus_01_dot_56_bar__plus_00_dot_86_bar__plus_00_dot_28) + (inReceptacle 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Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_83) + (inReceptacle DishSponge_bar__minus_02_dot_88_bar__plus_01_dot_44_bar__plus_00_dot_67 Cabinet_bar__minus_02_dot_78_bar__plus_01_dot_80_bar__plus_00_dot_82) + (inReceptacle Plate_bar__minus_01_dot_94_bar__plus_00_dot_13_bar__plus_00_dot_44 Cabinet_bar__minus_02_dot_24_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SoapBottle_bar__minus_01_dot_41_bar__plus_00_dot_12_bar__plus_00_dot_32 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle SoapBottle_bar__minus_01_dot_47_bar__plus_00_dot_12_bar__plus_00_dot_48 Cabinet_bar__minus_01_dot_29_bar__plus_00_dot_39_bar__plus_00_dot_56) + (inReceptacle 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 Egg_bar__minus_02_dot_89_bar__plus_01_dot_17_bar__plus_02_dot_40 Fridge_bar__minus_02_dot_78_bar__plus_00_dot_00_bar__plus_02_dot_22) + 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"Bread_db4f73f8", + "position": { + "x": -0.970084667, + "y": 0.8554997, + "z": 0.243211865 + }, + "rotation": { + "x": -0.004044094, + "y": 30.2905636, + "z": 359.9899 + } + }, + { + "objectName": "Spoon_df0734fa", + "position": { + "x": -2.63101554, + "y": 0.693945944, + "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": -0.397978365, + "y": 0.115337931, + "z": 0.9141403 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4183948972, + "scene_num": 25 + }, + "task_id": "trial_T20190906_235820_544769", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A23HZ18KTCK2DA_32VNZTT0AALUILUC1JC4FQOP34TR46", + "high_descs": [ + "Turn to the right and go to the coffee maker.", + "Pick up the coffee mug that is on the coffee maker.", + "Turn right and go to the microwave.", + "Open the microwave. Put the coffee mug in the microwave. Close the microwave door and turn it on. When finished open the door and grab the coffee mug. Shut the door.", + "Turn around and go to the coffee maker.", + "Place the mug on the coffee maker." + ], + "task_desc": "Heat up a cup of coffee in microwave.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1RLO9LNUJIW5S_3KIBXJ1WD8BCZARZUJIGSC8GP2QKO5", + "high_descs": [ + "Turn right and walk to the sink then turn left and walk to the counter and turn right to face the coffee pot.", + "Get the mug from under the coffee pot.", + "Now walk over to the microwave and stand facing it.", + "Warm the mug in the microwave then take it back out and close the microwave door.", + "Walk back over to the coffee pot.", + "Put the mug back where you picked it up from." + ], + "task_desc": "Put a warm mug under the coffee maker.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A10AVWALIHR4UQ_3GS6S824STELCPL4II161Y26MZJWNN", + "high_descs": [ + "Turn right and move towards the sink then turn left and move towards the oven and then turn right and move to the coffee maker to the left of the loaf of bread.", + "Remove the mug from the coffee maker.", + "Turn right and move to the microwave next to the refrigerator and above the dishwasher.", + "Place the mug in the microwave, microwave the mug, then pick up the mug from the microwave.", + "Turn around and move towards the oven then turn right and face the loaf of bread between the sink and the coffee maker.", + "Place the mug in the coffee maker next to the loaf of bread." + ], + "task_desc": "Place a warmed mug in the coffee maker.", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..c4e9af08104bf4f844572250a706dc5083ae78ab --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot mug in 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_T20190906_203744_920699)\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_78_bar__plus_01_dot_48_bar__minus_00_dot_27 - object\n Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_17 - object\n Apple_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_89 - object\n Bowl_bar__plus_01_dot_51_bar__plus_00_dot_11_bar__minus_01_dot_40 - object\n Bowl_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_22 - 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_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_01 - object\n ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_10 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_83 - object\n DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object\n DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_64 - object\n Egg_bar__plus_01_dot_19_bar__plus_00_dot_94_bar__minus_02_dot_27 - object\n Egg_bar__plus_01_dot_81_bar__plus_01_dot_05_bar__minus_01_dot_30 - object\n Egg_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_25 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Knife_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__minus_02_dot_01 - object\n Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_62 - object\n Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_71 - object\n Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 - object\n Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_53 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 - object\n Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_37 - 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_84_bar__plus_00_dot_81_bar__minus_00_dot_46 - object\n Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 - 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_04_bar__plus_00_dot_17_bar__plus_00_dot_20 - object\n PepperShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Plate_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_35 - object\n Potato_bar__plus_01_dot_95_bar__plus_00_dot_85_bar__minus_00_dot_37 - object\n 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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_06_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_73_bar__plus_00_dot_71_bar__minus_01_dot_98 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_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 (objectAtLocation Egg_bar__plus_01_dot_19_bar__plus_00_dot_94_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_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 SaltShaker_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_01_dot_79 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15)\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__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 loc_bar__minus_2_bar__minus_3_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 loc_bar__minus_2_bar__minus_4_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_83 loc_bar__minus_1_bar__minus_3_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_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_46 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_03 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 (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r ShelfType)\n (isHot ?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 microwave 1", "heat mug 2 with microwave 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_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..203e2f80ce157b85a6e2aad2c1f9b8d15df87e7f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203744_920699/initial_state.pddl @@ -0,0 +1,1262 @@ + +(define (problem plan_trial_T20190906_203744_920699) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_78_bar__plus_01_dot_48_bar__minus_00_dot_27 - object + Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_17 - object + Apple_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_89 - object + Bowl_bar__plus_01_dot_51_bar__plus_00_dot_11_bar__minus_01_dot_40 - object + Bowl_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_22 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_01 - object + ButterKnife_bar__minus_01_dot_02_bar__plus_00_dot_91_bar__minus_02_dot_10 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_83 - object + DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 - object + DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_64 - object + Egg_bar__plus_01_dot_19_bar__plus_00_dot_94_bar__minus_02_dot_27 - object + Egg_bar__plus_01_dot_81_bar__plus_01_dot_05_bar__minus_01_dot_30 - object + Egg_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_25 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + Knife_bar__plus_00_dot_97_bar__plus_00_dot_93_bar__minus_02_dot_01 - object + Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_62 - object + Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_71 - object + Ladle_bar__minus_00_dot_15_bar__plus_01_dot_17_bar__plus_00_dot_44 - object + Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_53 - object + Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_37 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_46 - object + Mug_bar__minus_00_dot_03_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 - object + PaperTowelRoll_bar__plus_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 - object + PepperShaker_bar__plus_01_dot_64_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Plate_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_35 - object + Potato_bar__plus_01_dot_95_bar__plus_00_dot_85_bar__minus_00_dot_37 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + SaltShaker_bar__plus_03_dot_11_bar__plus_00_dot_88_bar__plus_00_dot_14 - object + SaltShaker_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_01_dot_79 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_01_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_02_dot_12 - object + Spatula_bar__minus_00_dot_73_bar__plus_00_dot_71_bar__minus_01_dot_98 - object + Spatula_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_05 - object + Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_01 - object + Statue_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_03 - 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_01_dot_48_bar__minus_00_dot_64 - object + Tomato_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_49 - object + Tomato_bar__minus_01_dot_08_bar__plus_00_dot_96_bar__minus_01_dot_38 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Vase_bar__minus_01_dot_28_bar__plus_00_dot_92_bar__plus_00_dot_19 - object + Vase_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_29 - 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__minus_2_bar__minus_5_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType 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Potato_bar__plus_01_dot_95_bar__plus_00_dot_85_bar__minus_00_dot_37) + (coolable Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97) + (coolable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_37) + (coolable Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94) + (coolable Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_46) + (coolable Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_17) + (coolable Apple_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_89) + (coolable Egg_bar__plus_01_dot_81_bar__plus_01_dot_05_bar__minus_01_dot_30) + (coolable Bowl_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_22) + (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13) + (coolable Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19) + (coolable Tomato_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_49) + (coolable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74) + (coolable Apple_bar__plus_01_dot_78_bar__plus_01_dot_48_bar__minus_00_dot_27) + (coolable Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_35) + (coolable Egg_bar__plus_01_dot_19_bar__plus_00_dot_94_bar__minus_02_dot_27) + (coolable Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67) + + (isCool Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_46) + + + + (sliceable Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_53) + (sliceable Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_64) + (sliceable Egg_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_25) + (sliceable Tomato_bar__minus_01_dot_08_bar__plus_00_dot_96_bar__minus_01_dot_38) + (sliceable Potato_bar__plus_01_dot_95_bar__plus_00_dot_85_bar__minus_00_dot_37) + (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_37) + (sliceable Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_17) + (sliceable Apple_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_89) + (sliceable Egg_bar__plus_01_dot_81_bar__plus_01_dot_05_bar__minus_01_dot_30) + (sliceable Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19) + (sliceable Tomato_bar__minus_00_dot_60_bar__plus_01_dot_18_bar__plus_00_dot_49) + (sliceable Lettuce_bar__plus_02_dot_00_bar__plus_00_dot_89_bar__minus_00_dot_74) + (sliceable Apple_bar__plus_01_dot_78_bar__plus_01_dot_48_bar__minus_00_dot_27) + (sliceable Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_35) + (sliceable Egg_bar__plus_01_dot_19_bar__plus_00_dot_94_bar__minus_02_dot_27) + + (inReceptacle Spatula_bar__minus_00_dot_73_bar__plus_00_dot_71_bar__minus_01_dot_98 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Bowl_bar__plus_01_dot_51_bar__plus_00_dot_11_bar__minus_01_dot_40 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76) + (inReceptacle SaltShaker_bar__minus_01_dot_40_bar__plus_01_dot_65_bar__minus_01_dot_79 Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98) + (inReceptacle DishSponge_bar__minus_00_dot_58_bar__plus_00_dot_11_bar__minus_01_dot_83 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Plate_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) + (inReceptacle Vase_bar__minus_01_dot_33_bar__plus_00_dot_92_bar__minus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__plus_00_dot_03 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle SoapBottle_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 Kettle_bar__minus_00_dot_63_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Vase_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 Spatula_bar__minus_00_dot_91_bar__plus_00_dot_91_bar__minus_00_dot_05 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Fork_bar__minus_01_dot_33_bar__plus_00_dot_91_bar__minus_00_dot_17 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle DishSponge_bar__minus_00_dot_61_bar__plus_00_dot_69_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Bowl_bar__minus_00_dot_65_bar__plus_00_dot_11_bar__plus_00_dot_22 Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01) + (inReceptacle Tomato_bar__minus_00_dot_60_bar__plus_01_dot_18_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_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__minus_00_dot_82_bar__plus_01_dot_16_bar__plus_00_dot_62 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_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 Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_71 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle ButterKnife_bar__minus_00_dot_19_bar__plus_00_dot_70_bar__plus_00_dot_18 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Knife_bar__plus_00_dot_97_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 Tomato_bar__minus_01_dot_08_bar__plus_00_dot_96_bar__minus_01_dot_38 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Pan_bar__plus_01_dot_74_bar__plus_00_dot_90_bar__minus_01_dot_97 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spoon_bar__minus_01_dot_26_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 Apple_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_89 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle PepperShaker_bar__plus_01_dot_64_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 DishSponge_bar__minus_01_dot_32_bar__plus_00_dot_91_bar__minus_01_dot_64 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Egg_bar__plus_01_dot_19_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 ButterKnife_bar__minus_01_dot_02_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_02_dot_04_bar__plus_00_dot_17_bar__plus_00_dot_20 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle SaltShaker_bar__plus_03_dot_11_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 Egg_bar__plus_01_dot_81_bar__plus_01_dot_05_bar__minus_01_dot_30 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Egg_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Potato_bar__plus_01_dot_88_bar__plus_01_dot_05_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle Tomato_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Potato_bar__plus_01_dot_95_bar__plus_00_dot_85_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle 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) + (inReceptacle Lettuce_bar__plus_02_dot_00_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) + (inReceptacle Apple_bar__plus_01_dot_78_bar__plus_01_dot_48_bar__minus_00_dot_27 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Mug_bar__plus_01_dot_84_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 Spatula_bar__minus_00_dot_29_bar__plus_00_dot_78_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle ButterKnife_bar__minus_00_dot_20_bar__plus_00_dot_76_bar__minus_02_dot_01 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__minus_00_dot_03_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 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) + + + (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 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"z": 0.0 + } + }, + { + "objectName": "ButterKnife_1a7bf448", + "position": { + "x": -0.203713372, + "y": 0.76339823, + "z": -2.008 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_42dba209", + "position": { + "x": -0.6116, + "y": 0.691602468, + "z": 0.102337241 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Vase_3478a6e4", + "position": { + "x": 2.9791863, + "y": 0.539382756, + "z": 0.12853384 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_80376f38", + "position": { + "x": -1.25914133, + "y": 0.912429333, + "z": -2.014 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_74fc855a", + "position": { + "x": -1.07535017, + "y": 0.960860431, + "z": -1.384933 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_8066794b", + "position": { + "x": -0.0310187489, + "y": 0.758356154, + "z": -1.95272 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_bb70ba4e", + "position": { + "x": -0.420080632, + "y": 0.920564, + "z": 0.0302453339 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2511100033, + "scene_num": 5 + }, + "task_id": "trial_T20190906_203744_920699", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_34X6J5FLPWFK92YXRBA8G233PBFQJL", + "high_descs": [ + "Turn to face the sink on the right. ", + "Pick up the mug from the sink.", + "Bring the mug to the microwave. ", + "Heat the mug in the microwave for a few seconds. ", + "Bring the mug to the wooden rack. ", + "Place the mug on the wooden rack. " + ], + "task_desc": "Put the heated mug on the wooden rack. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3FDJT1UU77PQR0LHP4MHJ68P817K5A", + "high_descs": [ + "Go to the sink to your right.", + "Remove the cup on the right from the sink.", + "Take the cup to the microwave.", + "Heat the cup in the microwave.", + "That the cup to the shelves behind you and to your right.", + "Place the cup on the top shelf." + ], + "task_desc": "Put a warm cup on the shelf. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3IXQG4FA2WF8ZKJZMHM5WJU17529BV", + "high_descs": [ + "Turn right to face the sink.", + "Pick up the white cup from the sink.", + "Turn left and walk towards the microwave.", + "Open the microwave, place the cup in it, heat it up, and take the cup out of it.", + "Turn left, walk past the fridge, then turn left towards the wooden shelf on your right.", + "Place the cup next to the salt shaker on the shelf." + ], + "task_desc": "Place the warmed cup on the wooden shelf.", + "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-Mug-None-Shelf-5/trial_T20190906_203817_948928/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203817_948928/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..833d9d26702230a91ac618218d16ad4d92a75dc8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203817_948928/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 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_T20190906_203817_948928)\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_25 - object\n Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 - object\n Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 - object\n Bowl_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_64 - object\n Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_37 - object\n Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10 - object\n ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_19 - object\n ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 - object\n Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object\n Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object\n Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object\n DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n Egg_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_35 - object\n Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 - object\n Egg_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_23 - 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_06_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Fork_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_81 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object\n Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_62 - object\n Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 - object\n Knife_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_00_dot_23 - object\n Ladle_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_95 - object\n Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object\n Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object\n Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object\n PaperTowelRoll_bar__plus_02_dot_59_bar__plus_00_dot_98_bar__plus_00_dot_09 - object\n PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 - object\n PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_76 - object\n Plate_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_02_dot_16 - object\n Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_14 - object\n Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_14 - object\n Potato_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__minus_02_dot_12 - object\n Potato_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_55 - object\n Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object\n SaltShaker_bar__plus_01_dot_06_bar__plus_01_dot_65_bar__minus_02_dot_16 - object\n SaltShaker_bar__minus_00_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_22 - object\n 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Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_14 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_38_bar__plus_01_dot_15_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_02_dot_59_bar__plus_00_dot_98_bar__plus_00_dot_09 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Vase_bar__minus_00_dot_60_bar__plus_01_dot_14_bar__plus_00_dot_62 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 loc_bar_0_bar__minus_5_bar_2_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation SaltShaker_bar__plus_01_dot_06_bar__plus_01_dot_65_bar__minus_02_dot_16 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_21_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation 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_66_bar__plus_00_dot_69_bar__minus_01_dot_89 loc_bar_0_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Vase_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 Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_08 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 loc_bar_2_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 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 (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r ShelfType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 1 from coffeemachine 1", "go to microwave 1", "heat mug 1 with microwave 1", "go to 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_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203817_948928/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203817_948928/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..28f17b686af9e29d3b5e2029b6fa868748a8263b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203817_948928/initial_state.pddl @@ -0,0 +1,1257 @@ + +(define (problem plan_trial_T20190906_203817_948928) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_25 - object + Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 - object + Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 - object + Bowl_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_64 - object + Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_37 - object + Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10 - object + ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_19 - object + ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Chair_bar__minus_00_dot_08_bar__plus_00_dot_01_bar__plus_00_dot_76 - object + Chair_bar__minus_00_dot_46_bar__plus_00_dot_01_bar__plus_00_dot_75 - object + Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 - object + DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + Egg_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_35 - object + Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01 - object + Egg_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_23 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__plus_00_dot_06_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Fork_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_81 - 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 + Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_62 - object + Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 - object + Knife_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_00_dot_23 - object + Ladle_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_95 - object + Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + PaperTowelRoll_bar__plus_02_dot_59_bar__plus_00_dot_98_bar__plus_00_dot_09 - object + PepperShaker_bar__plus_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 - object + PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_76 - object + Plate_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_14 - object + Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_14 - object + Potato_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__minus_02_dot_12 - object + Potato_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_55 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + SaltShaker_bar__plus_01_dot_06_bar__plus_01_dot_65_bar__minus_02_dot_16 - object + SaltShaker_bar__minus_00_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_22 - object + SaltShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_57 - object + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_03_dot_11_bar__plus_00_dot_55_bar__plus_00_dot_09 - object + SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + Spatula_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__minus_02_dot_01 - object + Spatula_bar__minus_00_dot_38_bar__plus_01_dot_15_bar__plus_00_dot_44 - object + Spatula_bar__minus_00_dot_58_bar__plus_00_dot_71_bar__plus_00_dot_10 - object + Spoon_bar__minus_00_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_22 - object + Spoon_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_08 - object + Statue_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 - object + Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_83 - object + Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 - object + Vase_bar__plus_00_dot_07_bar__plus_01_dot_13_bar__plus_00_dot_49 - object + Vase_bar__plus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_16 - object + Vase_bar__minus_00_dot_60_bar__plus_01_dot_14_bar__plus_00_dot_62 - 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_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 + 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_5_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 CabinetType) + (receptacleType 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Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_83) + (coolable Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_25) + (coolable Bowl_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_64) + (coolable Potato_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__minus_02_dot_12) + (coolable Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01) + (coolable Potato_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_55) + (coolable Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90) + (coolable Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_37) + (coolable Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_14) + (coolable Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10) + + + + + + (sliceable Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_21_bar__plus_00_dot_57) + (sliceable Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_14) + (sliceable Egg_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_23) + (sliceable Egg_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_35) + (sliceable Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64) + (sliceable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17) + (sliceable Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_83) + (sliceable Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_25) + (sliceable Potato_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__minus_02_dot_12) + (sliceable Egg_bar__minus_00_dot_12_bar__plus_00_dot_80_bar__minus_02_dot_01) + (sliceable Potato_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_55) + (sliceable Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10) + + (inReceptacle PepperShaker_bar__minus_00_dot_59_bar__plus_00_dot_69_bar__minus_01_dot_76 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle DishSponge_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67) + (inReceptacle Kettle_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76) + (inReceptacle Vase_bar__plus_01_dot_95_bar__plus_01_dot_66_bar__minus_01_dot_16 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle Plate_bar__plus_00_dot_89_bar__plus_01_dot_66_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_01_dot_06_bar__plus_01_dot_65_bar__minus_02_dot_16 Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02) + (inReceptacle Pan_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spoon_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__plus_00_dot_08 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_19 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Statue_bar__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Knife_bar__minus_01_dot_25_bar__plus_00_dot_94_bar__minus_00_dot_23 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_14 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Egg_bar__minus_01_dot_00_bar__plus_00_dot_95_bar__minus_00_dot_23 CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19) + (inReceptacle Spatula_bar__minus_00_dot_58_bar__plus_00_dot_71_bar__plus_00_dot_10 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle SaltShaker_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) + (inReceptacle Lettuce_bar__minus_00_dot_38_bar__plus_01_dot_21_bar__plus_00_dot_57 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle SoapBottle_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_49 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Spoon_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 Spatula_bar__minus_00_dot_38_bar__plus_01_dot_15_bar__plus_00_dot_44 CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57) + (inReceptacle Knife_bar__plus_00_dot_07_bar__plus_01_dot_16_bar__plus_00_dot_62 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 Vase_bar__minus_00_dot_60_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) + (inReceptacle Vase_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 Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13) + (inReceptacle SaltShaker_bar__minus_00_dot_12_bar__plus_00_dot_69_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle Spoon_bar__minus_00_dot_32_bar__plus_00_dot_70_bar__plus_00_dot_22 Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Spatula_bar__plus_01_dot_87_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 Fork_bar__minus_01_dot_16_bar__plus_00_dot_91_bar__minus_01_dot_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle 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 Bread_bar__minus_01_dot_14_bar__plus_00_dot_99_bar__minus_02_dot_10 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Potato_bar__minus_01_dot_08_bar__plus_00_dot_94_bar__minus_01_dot_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_11_bar__plus_00_dot_17 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Potato_bar__plus_02_dot_00_bar__plus_00_dot_09_bar__plus_00_dot_14 GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14) + (inReceptacle Statue_bar__plus_02_dot_90_bar__plus_00_dot_89_bar__plus_00_dot_14 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle PaperTowelRoll_bar__plus_02_dot_59_bar__plus_00_dot_98_bar__plus_00_dot_09 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14) + (inReceptacle Egg_bar__plus_01_dot_91_bar__plus_01_dot_05_bar__minus_01_dot_35 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacle Apple_bar__plus_01_dot_85_bar__plus_01_dot_06_bar__minus_01_dot_25 Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35) + (inReceptacleObject Fork_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_03_dot_01_bar__plus_00_dot_55_bar__plus_00_dot_30 Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14) + (inReceptacle SoapBottle_bar__plus_03_dot_11_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 Bowl_bar__plus_01_dot_95_bar__plus_01_dot_42_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Apple_bar__plus_02_dot_06_bar__plus_00_dot_87_bar__minus_00_dot_64 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bowl_bar__plus_01_dot_89_bar__plus_00_dot_81_bar__minus_00_dot_55 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Bowl_bar__plus_02_dot_00_bar__plus_01_dot_10_bar__minus_00_dot_37 Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54) + (inReceptacle Tomato_bar__plus_01_dot_84_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) + (inReceptacleObject ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_19 Plate_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__plus_00_dot_14) + (inReceptacle Potato_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__minus_02_dot_12 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Fork_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 Egg_bar__minus_00_dot_12_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) + (inReceptacle Cup_bar__plus_00_dot_10_bar__plus_00_dot_75_bar__minus_01_dot_94 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Knife_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Ladle_bar__minus_00_dot_29_bar__plus_00_dot_80_bar__minus_01_dot_95 Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_2_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 loc_bar_4_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 loc_bar_2_bar__minus_4_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 loc_bar__minus_1_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 loc_bar__minus_2_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_3_bar_2_bar_45) + (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 loc_bar_0_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 loc_bar_0_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30) + (receptacleAtLocation Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 loc_bar_2_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 loc_bar_2_bar_3_bar_3_bar_30) + (receptacleAtLocation CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_3_bar__minus_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 loc_bar_0_bar__minus_2_bar_0_bar_60) + (receptacleAtLocation 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__plus_00_dot_01_bar__plus_00_dot_92_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Tomato_bar__plus_01_dot_84_bar__plus_01_dot_15_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30) + (objectAtLocation ButterKnife_bar__minus_00_dot_21_bar__plus_00_dot_91_bar__plus_00_dot_19 loc_bar__minus_2_bar__minus_1_bar_0_bar_60) + (objectAtLocation 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"Statue_bb70ba4e", + "position": { + "x": 0.00897419453, + "y": 0.920564, + "z": 0.241651565 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 4273043485, + "scene_num": 5 + }, + "task_id": "trial_T20190906_203817_948928", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A320QA9HJFUOZO_3LBXNTKX0UCFCNM0RDENLGLTQC1X9B", + "high_descs": [ + "Turn around and walk over to the coffee machine in the kitchen", + "Pick up the white mug from the coffee machine", + "Turn left and approach the microwave on the kitchen counter", + "Warm the mug in the microwave and remove it", + "Turn left and walk around the fridge to the wooden shelf near a door", + "Put the mug down on the third shelf from bottom" + ], + "task_desc": "Put the white mug on the wooden shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AM2KK02JXXW48_3OHYZ19UGFM6NXIDIS5RYY5KKNWAOA", + "high_descs": [ + "Go to the coffee machine.", + "Pick up the mug from the coffee machine. ", + "Bring the mug to the microwave.", + "Heat the mug in the microwave. ", + "Bring the mug to the wooden shelves. ", + "Put the mug on the wooden shelf." + ], + "task_desc": "Put a heated mug on the wooden shelf. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1GVTH5YS3WOK0_3ZGVPD4G6WYN1XVTQ17P912GSGPZTR", + "high_descs": [ + "Turn around and head towards the coffee maker.", + "Pick up the cup from the coffee maker.", + "Turn left and head towards the microwave.", + "Open the microwave, place the cup in it, heat it up, and take the cup out of microwave.", + "Turn left, walk past the fridge, and then turn left towards the wooden shelf on your right.", + "Place the cup on the top shelf." + ], + "task_desc": "Place the heated cup on the top shelf.", + "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-Mug-None-Shelf-5/trial_T20190906_203924_704982/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203924_704982/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b6b4104b590f0a2fc767624aa4d4850d4a7016c6 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203924_704982/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 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_T20190906_203924_704982)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 - object\n Apple_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_55 - object\n Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_35 - object\n Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 - object\n Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_74 - object\n Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object\n ButterKnife_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 - object\n ButterKnife_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_29 - 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_99_bar__plus_00_dot_91_bar__minus_01_dot_81 - object\n Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74 - object\n Egg_bar__plus_02_dot_06_bar__plus_01_dot_46_bar__minus_00_dot_83 - object\n Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object\n Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 - object\n Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object\n Fork_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 - object\n HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object\n Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 - object\n Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object\n Knife_bar__plus_00_dot_74_bar__plus_00_dot_93_bar__minus_02_dot_01 - object\n Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_44 - object\n Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_03 - object\n Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_93 - object\n Ladle_bar__plus_01_dot_53_bar__plus_01_dot_69_bar__minus_02_dot_27 - object\n Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_10 - object\n Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object\n 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loc_bar__minus_2_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__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_44 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_74 loc_bar_4_bar__minus_3_bar_1_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 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_53_bar__plus_01_dot_69_bar__minus_02_dot_27 loc_bar_4_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation Apple_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 loc_bar__minus_2_bar__minus_5_bar_3_bar_45)\n (objectAtLocation Vase_bar__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 Potato_bar__plus_02_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_64 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 loc_bar__minus_2_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bread_bar__minus_01_dot_15_bar__plus_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_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 LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_49 loc_bar_2_bar_3_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__plus_00_dot_14 loc_bar_8_bar_3_bar_2_bar_60)\n (objectAtLocation Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 loc_bar_8_bar_3_bar_1_bar_45)\n (objectAtLocation Egg_bar__plus_02_dot_06_bar__plus_01_dot_46_bar__minus_00_dot_83 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_03 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_85_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_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_38 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_14 loc_bar_3_bar__minus_2_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_29 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_99_bar__plus_00_dot_91_bar__minus_01_dot_81 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 loc_bar_10_bar_5_bar_2_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 loc_bar_4_bar__minus_5_bar_2_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_55 loc_bar_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_01_dot_00_bar__plus_00_dot_92_bar__minus_00_dot_23 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o MugType)\n (receptacleType ?r ShelfType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to coffeemachine 1", "take mug 2 from coffeemachine 1", "go to microwave 1", "heat mug 2 with microwave 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_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203924_704982/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203924_704982/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..88464fd195bde7cce2f60fcfb9dcb54f15d6e2b3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Mug-None-Shelf-5/trial_T20190906_203924_704982/initial_state.pddl @@ -0,0 +1,1271 @@ + +(define (problem plan_trial_T20190906_203924_704982) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__plus_01_dot_88_bar__plus_00_dot_11_bar__plus_00_dot_08 - object + Apple_bar__plus_01_dot_89_bar__plus_01_dot_48_bar__minus_00_dot_55 - object + Bowl_bar__plus_01_dot_81_bar__plus_01_dot_01_bar__minus_01_dot_35 - object + Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_37 - object + Bowl_bar__plus_01_dot_89_bar__plus_01_dot_10_bar__minus_00_dot_74 - object + Bread_bar__minus_01_dot_15_bar__plus_00_dot_98_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 - object + ButterKnife_bar__minus_01_dot_25_bar__plus_00_dot_90_bar__minus_00_dot_29 - 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_99_bar__plus_00_dot_91_bar__minus_01_dot_81 - object + Egg_bar__plus_02_dot_00_bar__plus_00_dot_85_bar__minus_00_dot_74 - object + Egg_bar__plus_02_dot_06_bar__plus_01_dot_46_bar__minus_00_dot_83 - object + Faucet_bar__minus_00_dot_16_bar__plus_01_dot_05_bar__minus_02_dot_20 - object + Fork_bar__minus_00_dot_05_bar__plus_00_dot_70_bar__plus_00_dot_18 - object + Fork_bar__minus_00_dot_60_bar__plus_01_dot_13_bar__plus_00_dot_71 - object + Fork_bar__minus_00_dot_66_bar__plus_00_dot_69_bar__minus_01_dot_89 - object + HousePlant_bar__minus_01_dot_25_bar__plus_01_dot_12_bar__plus_00_dot_61 - object + Kettle_bar__minus_00_dot_29_bar__plus_00_dot_76_bar__minus_01_dot_95 - object + Kettle_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_01_dot_13 - object + Knife_bar__plus_00_dot_74_bar__plus_00_dot_93_bar__minus_02_dot_01 - object + Knife_bar__minus_01_dot_05_bar__plus_01_dot_16_bar__plus_00_dot_44 - object + Knife_bar__minus_01_dot_28_bar__plus_00_dot_94_bar__plus_00_dot_03 - object + Ladle_bar__plus_00_dot_97_bar__plus_00_dot_95_bar__minus_01_dot_93 - object + Ladle_bar__plus_01_dot_53_bar__plus_01_dot_69_bar__minus_02_dot_27 - object + Ladle_bar__minus_01_dot_26_bar__plus_00_dot_95_bar__minus_02_dot_10 - object + Lettuce_bar__plus_00_dot_07_bar__plus_01_dot_21_bar__plus_00_dot_57 - object + Lettuce_bar__plus_02_dot_00_bar__plus_01_dot_50_bar__minus_00_dot_74 - object + Lettuce_bar__minus_01_dot_08_bar__plus_00_dot_99_bar__minus_01_dot_38 - object + LightSwitch_bar__plus_00_dot_40_bar__plus_01_dot_30_bar__plus_02_dot_00 - object + Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 - object + Mug_bar__plus_01_dot_84_bar__plus_00_dot_81_bar__minus_00_dot_55 - object + Pan_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_01_dot_02 - object + PaperTowelRoll_bar__plus_01_dot_96_bar__plus_00_dot_17_bar__plus_00_dot_14 - object + PepperShaker_bar__plus_00_dot_01_bar__plus_00_dot_69_bar__plus_00_dot_14 - object + PepperShaker_bar__minus_00_dot_15_bar__plus_01_dot_13_bar__plus_00_dot_44 - object + PepperShaker_bar__minus_00_dot_73_bar__plus_00_dot_69_bar__minus_01_dot_98 - object + Plate_bar__minus_01_dot_31_bar__plus_01_dot_66_bar__plus_00_dot_16 - object + Potato_bar__plus_02_dot_06_bar__plus_01_dot_13_bar__minus_00_dot_64 - object + Potato_bar__minus_00_dot_21_bar__plus_00_dot_94_bar__plus_00_dot_14 - object + Pot_bar__minus_01_dot_06_bar__plus_00_dot_96_bar__minus_00_dot_67 - object + Pot_bar__minus_01_dot_29_bar__plus_00_dot_96_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_02_dot_49_bar__plus_00_dot_88_bar__plus_00_dot_11 - object + SaltShaker_bar__minus_00_dot_85_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_01_dot_35_bar__plus_01_dot_65_bar__minus_02_dot_20 - object + SoapBottle_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__plus_00_dot_03 - object + Spatula_bar__minus_00_dot_03_bar__plus_00_dot_78_bar__minus_01_dot_90 - object + Spatula_bar__minus_00_dot_60_bar__plus_01_dot_15_bar__plus_00_dot_49 - object + Spoon_bar__minus_01_dot_26_bar__plus_00_dot_91_bar__minus_02_dot_18 - object + Statue_bar__minus_01_dot_00_bar__plus_00_dot_92_bar__minus_00_dot_23 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_68 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_83 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_00_dot_97 - object + StoveKnob_bar__minus_00_dot_87_bar__plus_00_dot_90_bar__minus_01_dot_12 - object + Tomato_bar__minus_00_dot_42_bar__plus_00_dot_96_bar__plus_00_dot_24 - object + Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_38 - object + Tomato_bar__minus_01_dot_40_bar__plus_00_dot_96_bar__minus_01_dot_55 - object + Vase_bar__plus_02_dot_70_bar__plus_00_dot_87_bar__plus_00_dot_18 - object + Vase_bar__plus_02_dot_80_bar__plus_00_dot_55_bar__plus_00_dot_19 - object + Vase_bar__plus_02_dot_98_bar__plus_00_dot_54_bar__plus_00_dot_13 - object + Cabinet_bar__plus_00_dot_12_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_46_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_74_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_42_bar__plus_00_dot_37_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_45_bar__plus_00_dot_47_bar__minus_00_dot_01 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_00_dot_05 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__plus_00_dot_38 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_00_dot_77 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_01_dot_42 - receptacle + CoffeeMachine_bar__plus_00_dot_50_bar__plus_00_dot_90_bar__minus_02_dot_13 - receptacle + CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01 - receptacle + CounterTop_bar__minus_00_dot_63_bar__plus_01_dot_17_bar__plus_00_dot_57 - receptacle + CounterTop_bar__minus_00_dot_67_bar__plus_00_dot_95_bar__plus_00_dot_19 - receptacle + Drawer_bar__minus_00_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_75_bar__minus_00_dot_01 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__plus_01_dot_98_bar__plus_00_dot_00_bar__minus_00_dot_54 - receptacle + GarbageCan_bar__plus_01_dot_92_bar__plus_00_dot_00_bar__plus_00_dot_14 - receptacle + Microwave_bar__plus_01_dot_83_bar__plus_00_dot_90_bar__minus_01_dot_35 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_16_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_54_bar__plus_00_dot_14 - receptacle + Shelf_bar__plus_02_dot_81_bar__plus_00_dot_87_bar__plus_00_dot_14 - receptacle + Sink_bar__minus_00_dot_12_bar__plus_00_dot_88_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_00_dot_67 - receptacle + StoveBurner_bar__minus_01_dot_06_bar__plus_00_dot_95_bar__minus_01_dot_13 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__minus_01_dot_29_bar__plus_00_dot_95_bar__minus_01_dot_02 - receptacle + Toaster_bar__plus_00_dot_84_bar__plus_00_dot_90_bar__minus_02_dot_06 - receptacle + loc_bar__minus_2_bar__minus_2_bar_3_bar__minus_30 - location + loc_bar__minus_2_bar__minus_1_bar_3_bar__minus_30 - location + loc_bar_3_bar__minus_2_bar_3_bar_45 - location + loc_bar_8_bar_3_bar_2_bar_60 - location + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_2_bar__minus_4_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_8_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar__minus_30 - location + loc_bar_4_bar__minus_5_bar_1_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar_5_bar_2_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_2_bar_3_bar_60 - location + loc_bar_11_bar_6_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_5_bar_2_bar_45 - location + loc_bar_10_bar_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_2_bar_0_bar_45 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_3_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar_5_bar_2_bar_60 - location + loc_bar_4_bar__minus_3_bar_2_bar_45 - location + loc_bar_2_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_4_bar_0_bar_45 - location + loc_bar_0_bar__minus_2_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_0_bar_45 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_4_bar_3_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_30 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar__minus_30 - location + loc_bar_2_bar_1_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_84 CabinetType) + (receptacleType 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CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Tomato_bar__minus_01_dot_32_bar__plus_00_dot_96_bar__minus_01_dot_38 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_55 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Mug_bar__plus_00_dot_50_bar__plus_00_dot_96_bar__minus_01_dot_90 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle DishSponge_bar__minus_00_dot_99_bar__plus_00_dot_91_bar__minus_01_dot_81 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle ButterKnife_bar__minus_01_dot_14_bar__plus_00_dot_91_bar__minus_01_dot_93 CounterTop_bar__plus_01_dot_16_bar__plus_00_dot_95_bar__minus_02_dot_01) + (inReceptacle Knife_bar__plus_00_dot_74_bar__plus_00_dot_93_bar__minus_02_dot_01 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"objectName": "Statue_bb70ba4e", + "position": { + "x": -0.99721235, + "y": 0.920563936, + "z": -0.231475621 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2501374460, + "scene_num": 5 + }, + "task_id": "trial_T20190906_203924_704982", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AD0NVUGLDYDYN_3GDTJDAPVXS4464M8E60A3AKZ4Z8MH", + "high_descs": [ + "Turn right, walk to the refrigerator", + "Open the refrigerator, take the cup out of the refrigerator, close the refrigerator", + "Turn around, walk to the microwave on the left", + "Open the microwave, put the cup in, close the microwave, turn on the microwave, open the microwave, take the cup out, close the microwave", + "Turn left, walk pass the refrigerator, turn right, walk to the shelf", + "Put the cup on the shelf by the red ball" + ], + "task_desc": "Heat the cup from refrigerator with microwave, put it on the shelf", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3GNA64GUZHLC23JC296EFSKY7F95QD", + "high_descs": [ + "Take a step forward, then turn left and walk up to the fridge.", + "Open the fridge door and take the mug out of the fridge, then close the door.", + "Turn right and walk over to the microwave on the kitchen counter.", + "Open the microwave door and place the mug inside, close the door and turn on the microwave, after a couple seconds open the microwave, remove the mug, and close the door.", + "Turn left and begin walking across the room, then hang a right and walk over to the wooden shelving unit.", + "Place the heated mug onto the top shelf of the wooden shelving unit." + ], + "task_desc": "Put a heated mug on a shelf.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3QY5DC2MXU1WWTJIPU3SB580ZUIUFF", + "high_descs": [ + "Turn left and walk up to the fridge", + "Open the fridge and remove the white mug from it", + "Turn and move over to the microwave right of the fridge", + "Heat the mug in the microwave and remove it", + "Turn left and walk past the fridge over to the wooden shelf by a door", + "Put the mug on the top shelf" + ], + "task_desc": "Put the warmed mug on the wooden shelf", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b959d0571e8e00b75493538e9861a095166c467c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put a hot potato in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_151946_958394)\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_01_bar__plus_00_dot_96_bar__minus_01_dot_56 - object\n Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62 - object\n Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82 - object\n 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DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_49)\n (cleanable Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56)\n (cleanable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21)\n (cleanable Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_54)\n \n (heatable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68)\n (heatable Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88)\n (heatable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68)\n (heatable Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00)\n (heatable Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95)\n (heatable Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44)\n (heatable Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56)\n (heatable Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82)\n (heatable 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CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle SoapBottle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_04_dot_03 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80)\n (inReceptacle Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48)\n (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45)\n (inReceptacle Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76)\n (inReceptacle Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84 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Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_54 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Spatula_bar__minus_01_dot_91_bar__plus_00_dot_81_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n (inReceptacle DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_02_dot_68_bar__plus_00_dot_75_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_91_bar__plus_00_dot_81_bar__minus_03_dot_83 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_83 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_14_bar__plus_00_dot_75_bar__minus_03_dot_02 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_04_dot_03 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_53_bar__plus_00_dot_73_bar__minus_00_dot_43 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_18 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__minus_02_dot_97_bar__plus_00_dot_72_bar__minus_00_dot_60 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_08 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 4 from countertop 1", "go to microwave 1", "heat potato 4 with microwave 1", "go to countertop 1", "move potato 4 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d8cb2bb754a13fb87cd39bc34e12bcf979e33d16 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_151946_958394/initial_state.pddl @@ -0,0 +1,1108 @@ + +(define (problem plan_trial_T20190909_151946_958394) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_01_bar__plus_00_dot_96_bar__minus_01_dot_56 - object + Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62 - object + Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82 - object + Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35 - object + Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64 - object + Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85 - object + Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88 - object + Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00 - object + DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_49 - object + 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Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35) + (cleanable Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84) + (cleanable Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84) + (cleanable DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_83) + (cleanable Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11) + (cleanable Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80) + (cleanable Knife_bar__minus_02_dot_68_bar__plus_00_dot_75_bar__minus_00_dot_78) + (cleanable ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01) + (cleanable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (cleanable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91) + (cleanable DishSponge_bar__minus_02_dot_97_bar__plus_00_dot_72_bar__minus_00_dot_60) + (cleanable Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64) + (cleanable DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_49) + (cleanable Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56) + (cleanable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21) + (cleanable Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_54) + + (heatable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68) + (heatable Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88) + (heatable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68) + (heatable Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00) + (heatable Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95) + (heatable Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44) + (heatable Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56) + (heatable Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82) + (heatable Plate_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_92) + (heatable Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62) + (heatable Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84) + (heatable Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84) + (heatable Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80) + (heatable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (heatable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91) + (heatable Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56) + (heatable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21) + (coolable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68) + (coolable Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88) + (coolable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68) + (coolable Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13) + (coolable Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00) + (coolable Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03) + (coolable Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95) + (coolable Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44) + (coolable Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75) + (coolable Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56) + (coolable Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82) + (coolable Plate_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_92) + (coolable Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_56) + (coolable Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62) + (coolable Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35) + (coolable Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84) + (coolable Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84) + (coolable Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11) + (coolable Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80) + (coolable Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85) + (coolable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91) + (coolable Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64) + (coolable Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56) + (coolable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21) + + + + + + (sliceable Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68) + (sliceable Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68) + (sliceable Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95) + (sliceable Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56) + (sliceable Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82) + (sliceable Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_56) + (sliceable Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62) + (sliceable Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84) + (sliceable Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11) + (sliceable Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91) + (sliceable Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56) + (sliceable Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21) + + (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Spoon_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_80 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle ButterKnife_bar__minus_00_dot_33_bar__plus_00_dot_91_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Potato_bar__minus_00_dot_24_bar__plus_00_dot_96_bar__minus_02_dot_91 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_00_dot_41_bar__plus_01_dot_00_bar__minus_03_dot_11 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle SoapBottle_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_04_dot_03 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Potato_bar__minus_00_dot_65_bar__plus_00_dot_96_bar__minus_03_dot_95 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bowl_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_03_dot_35 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48) + (inReceptacle Plate_bar__minus_00_dot_45_bar__plus_00_dot_08_bar__minus_00_dot_84 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45) + (inReceptacle Cup_bar__minus_01_dot_15_bar__plus_01_dot_29_bar__minus_03_dot_85 Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Bowl_bar__minus_01_dot_12_bar__plus_00_dot_08_bar__minus_03_dot_64 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Potato_bar__minus_03_dot_12_bar__plus_00_dot_76_bar__minus_00_dot_84 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Egg_bar__minus_02_dot_58_bar__plus_00_dot_75_bar__minus_00_dot_68 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_02_dot_53_bar__plus_00_dot_73_bar__minus_00_dot_43 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Tomato_bar__minus_03_dot_15_bar__plus_00_dot_77_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_02_dot_97_bar__plus_00_dot_72_bar__minus_00_dot_60 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Plate_bar__minus_02_dot_87_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Potato_bar__minus_02_dot_52_bar__plus_00_dot_76_bar__minus_00_dot_21 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Knife_bar__minus_02_dot_68_bar__plus_00_dot_75_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Lettuce_bar__minus_02_dot_72_bar__plus_00_dot_80_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Fork_bar__minus_03_dot_14_bar__plus_00_dot_75_bar__minus_03_dot_02 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Spoon_bar__minus_03_dot_20_bar__plus_00_dot_75_bar__minus_03_dot_08 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle DishSponge_bar__minus_00_dot_44_bar__plus_00_dot_75_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle SaltShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_01_dot_18 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41) + (inReceptacle Apple_bar__minus_00_dot_18_bar__plus_00_dot_96_bar__minus_01_dot_62 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle PepperShaker_bar__minus_00_dot_50_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle SoapBottle_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Apple_bar__minus_00_dot_01_bar__plus_00_dot_96_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Knife_bar__minus_00_dot_34_bar__plus_00_dot_95_bar__minus_00_dot_54 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03) + (inReceptacle Mug_bar__minus_00_dot_19_bar__plus_01_dot_01_bar__minus_00_dot_80 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Mug_bar__minus_03_dot_01_bar__plus_00_dot_88_bar__minus_02_dot_44 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Cup_bar__minus_03_dot_03_bar__plus_01_dot_40_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Bowl_bar__minus_03_dot_18_bar__plus_01_dot_40_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Apple_bar__minus_03_dot_23_bar__plus_01_dot_44_bar__minus_01_dot_82 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Cup_bar__minus_03_dot_18_bar__plus_00_dot_64_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Spatula_bar__minus_01_dot_91_bar__plus_00_dot_81_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle DishSponge_bar__minus_01_dot_64_bar__plus_00_dot_79_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15) + (receptacleAtLocation 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shaker." + ], + "task_desc": "Place a heated potato on a counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3QUO65DNQXFYNVI9K5BZZL1GMZ1OUT", + "high_descs": [ + "Walk ahead to the counter.", + "Pick up the potato on the counter.", + "Turn left and walk to the microwave on the right counter.", + "Heat the potato in the microwave.", + "Take a step right.", + "Place the potato on the counter to the left of the salt shaker." + ], + "task_desc": "Place a heated potato on a counter.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_31T4R4OBOV7VGV9AHS9XUTTFPAIC7F", + "high_descs": [ + "walk to face counter near stove", + "pick up potato from counter", + "walk to face microwave", + "heat and remove potato from microwave", + "walk to face counter in front of microwave", + "put potato on counter" + ], + "task_desc": "put heated potato on counter", + "votes": [ + 1, + 1, + 0 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..420b9a2273af70d7acc6938d557b56c46861ba39 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some potato and put it in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_152050_792044)\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_19_bar__plus_00_dot_12_bar__plus_00_dot_06 - object\n Apple_bar__minus_02_dot_88_bar__plus_00_dot_76_bar__minus_00_dot_68 - object\n Bowl_bar__minus_00_dot_16_bar__plus_00_dot_91_bar__minus_03_dot_11 - object\n Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_80 - object\n Bowl_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_63 - object\n Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object\n ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_46 - object\n ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_15 - object\n Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object\n Cup_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_92 - object\n DishSponge_bar__minus_02_dot_66_bar__plus_01_dot_29_bar__minus_03_dot_89 - object\n Egg_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_03_dot_88 - object\n Egg_bar__minus_01_dot_90_bar__plus_00_dot_95_bar__minus_04_dot_05 - object\n Egg_bar__minus_03_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_78 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_41 - object\n Fork_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 - object\n Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_02_dot_83 - object\n Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 - object\n Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object\n Lettuce_bar__minus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_89 - object\n Lettuce_bar__minus_03_dot_21_bar__plus_00_dot_80_bar__minus_00_dot_75 - object\n LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object\n Mug_bar__minus_00_dot_07_bar__plus_01_dot_01_bar__minus_00_dot_85 - object\n Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 - object\n Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 - object\n Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 - object\n PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_33 - object\n PepperShaker_bar__minus_03_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_43 - object\n Plate_bar__minus_02_dot_44_bar__plus_01_dot_29_bar__minus_03_dot_97 - object\n Plate_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_00 - object\n Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 - object\n Potato_bar__minus_02_dot_53_bar__plus_00_dot_76_bar__minus_00_dot_56 - object\n Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 - object\n Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SaltShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_00_dot_61 - object\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SoapBottle_bar__minus_02_dot_72_bar__plus_00_dot_72_bar__minus_00_dot_44 - object\n Spatula_bar__minus_00_dot_50_bar__plus_00_dot_76_bar__minus_03_dot_02 - object\n Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_03_dot_83 - object\n Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_56 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object\n Tomato_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_38 - object\n Tomato_bar__minus_03_dot_08_bar__plus_01_dot_45_bar__minus_02_dot_00 - object\n Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_00 - object\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle\n Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle\n CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle\n CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle\n DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle\n Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle\n Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle\n loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location\n loc_bar__minus_8_bar__minus_9_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType)\n (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType)\n (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType)\n (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType)\n (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType)\n (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType)\n (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType)\n (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType)\n (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType)\n (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 CabinetType)\n (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 CabinetType)\n (receptacleType GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 GarbageCanType)\n (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 CabinetType)\n (receptacleType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin SinkBasinType)\n (receptacleType 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Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74)\n (inReceptacle DishSponge_bar__minus_02_dot_66_bar__plus_01_dot_29_bar__minus_03_dot_89 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76)\n (inReceptacle Plate_bar__minus_02_dot_44_bar__plus_01_dot_29_bar__minus_03_dot_97 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76)\n (inReceptacle Bowl_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_63 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51)\n (inReceptacle ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_15 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_03_dot_21_bar__plus_00_dot_80_bar__minus_00_dot_75 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Cup_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_92 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Potato_bar__minus_02_dot_53_bar__plus_00_dot_76_bar__minus_00_dot_56 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Tomato_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_38 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Egg_bar__minus_03_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Apple_bar__minus_02_dot_88_bar__plus_00_dot_76_bar__minus_00_dot_68 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SoapBottle_bar__minus_02_dot_72_bar__plus_00_dot_72_bar__minus_00_dot_44 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Fork_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Lettuce_bar__minus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_89 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_33 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_41 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle SaltShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_00_dot_61 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76)\n (inReceptacle Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_46 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Spatula_bar__minus_00_dot_50_bar__plus_00_dot_76_bar__minus_03_dot_02 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03)\n (inReceptacle Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle Mug_bar__minus_00_dot_07_bar__plus_01_dot_01_bar__minus_00_dot_85 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Apple_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__plus_00_dot_06 GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04)\n (inReceptacle Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Plate_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Tomato_bar__minus_03_dot_08_bar__plus_01_dot_45_bar__minus_02_dot_00 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_03_dot_83 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_16_bar__plus_00_dot_91_bar__minus_03_dot_11 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_15 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_33 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_50_bar__plus_00_dot_76_bar__minus_03_dot_02 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_02_dot_88_bar__plus_00_dot_76_bar__minus_00_dot_68 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_08_bar__plus_01_dot_45_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (objectAtLocation Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_02_dot_83 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_03_dot_21_bar__plus_00_dot_80_bar__minus_00_dot_75 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_38 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (objectAtLocation Egg_bar__minus_01_dot_90_bar__plus_00_dot_95_bar__minus_04_dot_05 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (objectAtLocation Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_03_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_92 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_53_bar__plus_00_dot_76_bar__minus_00_dot_56 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_89 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_00 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_00_dot_19_bar__plus_00_dot_12_bar__plus_00_dot_06 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_02_dot_72_bar__plus_00_dot_72_bar__minus_00_dot_44 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_03_dot_83 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_00_dot_61 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_03_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_43 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_46 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_44_bar__plus_01_dot_29_bar__minus_03_dot_97 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (objectAtLocation DishSponge_bar__minus_02_dot_66_bar__plus_01_dot_29_bar__minus_03_dot_89 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_07_bar__plus_01_dot_01_bar__minus_00_dot_85 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_63 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take potato 2 from diningtable 1", "go to microwave 1", "heat potato 2 with microwave 1", "go to countertop 1", "move potato 2 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..498ec848b6deeda4427188bdc77c3063e66bf103 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152050_792044/initial_state.pddl @@ -0,0 +1,1118 @@ + +(define (problem plan_trial_T20190909_152050_792044) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_19_bar__plus_00_dot_12_bar__plus_00_dot_06 - object + Apple_bar__minus_02_dot_88_bar__plus_00_dot_76_bar__minus_00_dot_68 - object + Bowl_bar__minus_00_dot_16_bar__plus_00_dot_91_bar__minus_03_dot_11 - object + Bowl_bar__minus_00_dot_85_bar__plus_00_dot_91_bar__minus_03_dot_80 - object + Bowl_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_63 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_00_dot_34_bar__plus_00_dot_92_bar__minus_00_dot_46 - object + ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_15 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_02_dot_93_bar__plus_00_dot_71_bar__minus_00_dot_92 - object + DishSponge_bar__minus_02_dot_66_bar__plus_01_dot_29_bar__minus_03_dot_89 - object + Egg_bar__minus_00_dot_04_bar__plus_00_dot_95_bar__minus_03_dot_88 - object + Egg_bar__minus_01_dot_90_bar__plus_00_dot_95_bar__minus_04_dot_05 - object + Egg_bar__minus_03_dot_05_bar__plus_00_dot_75_bar__minus_00_dot_78 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_00_dot_53_bar__plus_00_dot_75_bar__minus_01_dot_41 - object + Fork_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_64 - object + Fork_bar__minus_03_dot_39_bar__plus_00_dot_91_bar__minus_02_dot_83 - object + Knife_bar__minus_03_dot_07_bar__plus_00_dot_75_bar__minus_00_dot_70 - object + Knife_bar__minus_03_dot_56_bar__plus_00_dot_95_bar__minus_03_dot_13 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object + Lettuce_bar__minus_02_dot_65_bar__plus_00_dot_80_bar__minus_00_dot_89 - object + Lettuce_bar__minus_03_dot_21_bar__plus_00_dot_80_bar__minus_00_dot_75 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_00_dot_07_bar__plus_01_dot_01_bar__minus_00_dot_85 - object + Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_03 - object + Pan_bar__minus_00_dot_17_bar__plus_00_dot_98_bar__minus_02_dot_45 - object + Pan_bar__minus_02_dot_45_bar__plus_00_dot_91_bar__minus_03_dot_66 - object + PepperShaker_bar__minus_00_dot_47_bar__plus_00_dot_74_bar__minus_01_dot_33 - object + PepperShaker_bar__minus_03_dot_48_bar__plus_00_dot_91_bar__minus_03_dot_43 - object + Plate_bar__minus_02_dot_44_bar__plus_01_dot_29_bar__minus_03_dot_97 - object + Plate_bar__minus_03_dot_08_bar__plus_00_dot_64_bar__minus_02_dot_00 - object + Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 - object + Potato_bar__minus_02_dot_53_bar__plus_00_dot_76_bar__minus_00_dot_56 - object + Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 - object + Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SaltShaker_bar__minus_00_dot_50_bar__plus_00_dot_74_bar__minus_00_dot_61 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_02_dot_72_bar__plus_00_dot_72_bar__minus_00_dot_44 - object + Spatula_bar__minus_00_dot_50_bar__plus_00_dot_76_bar__minus_03_dot_02 - object + Spatula_bar__minus_01_dot_85_bar__plus_00_dot_81_bar__minus_03_dot_83 - object + Spoon_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_01_dot_56 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object + Tomato_bar__minus_02_dot_58_bar__plus_00_dot_76_bar__minus_00_dot_38 - object + Tomato_bar__minus_03_dot_08_bar__plus_01_dot_45_bar__minus_02_dot_00 - object + Tomato_bar__minus_03_dot_23_bar__plus_01_dot_06_bar__minus_02_dot_00 - object + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle + Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle + CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle + CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle + CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle + DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle + Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle + Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle + loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location + loc_bar__minus_8_bar__minus_9_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType) + (receptacleType Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 CabinetType) + (receptacleType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin SinkBasinType) + (receptacleType 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Plate_bar__minus_03_dot_18_bar__plus_01_dot_87_bar__minus_02_dot_03 Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74) + (inReceptacle DishSponge_bar__minus_02_dot_66_bar__plus_01_dot_29_bar__minus_03_dot_89 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Plate_bar__minus_02_dot_44_bar__plus_01_dot_29_bar__minus_03_dot_97 Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76) + (inReceptacle Bowl_bar__minus_01_dot_61_bar__plus_00_dot_08_bar__minus_03_dot_63 Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_71_bar__minus_00_dot_15 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Potato_bar__minus_03_dot_15_bar__plus_00_dot_76_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle 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"Open the microwave and put the potato inside then close the door and turn on the microwave, after a couple seconds open the microwave back up and remove the now heated potato then close the microwave.", + "Turn right and walk forward, then turn left to face the counter.", + "Put the heated potato on the counter to the left of the spoon." + ], + "task_desc": "Put a heated potato on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2A4UAFZ5LW71K_3EO896NRAZM5M7CN4NTKMTYS4RKJTE", + "high_descs": [ + "turn around, walk forward, turn left to face table", + "pick up the potato that is on the table", + "turn around, walk across to the microwave", + "put the potato in the microwave, turn it on, take potato out when it turns off", + "take two steps to the right", + "put the potato on the counter" + ], + "task_desc": "put cooked potato on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1ELPYAFO7MANS_3URFVVM1689AMZWGMEMGFJ8K640UZZ", + "high_descs": [ + "Turn around and walk to the right side of the kitchen table.", + "Pick up the potato next to the tomato.", + "Turn around and walk to the microwave", + "Heat the potato in the microwave.", + "Take a step right.", + "Place the potato on the counter, to the left of the spoon." + ], + "task_desc": "Place a heated potato on a 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-Potato-None-CounterTop-19/trial_T20190909_152158_373637/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152158_373637/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..21d100bac213d84d7926936873ecd9b4345f9e97 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152158_373637/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some potato and put it in countertop.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_152158_373637)\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_57_bar__plus_00_dot_83_bar__minus_03_dot_79 - object\n Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_43 - object\n Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 - object\n Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object\n ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54 - object\n Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object\n Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object\n Cup_bar__minus_03_dot_03_bar__plus_01_dot_01_bar__minus_02_dot_19 - object\n Cup_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_13 - object\n Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06 - object\n DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53 - object\n Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00 - object\n Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 - object\n Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94 - object\n Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object\n Fork_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_66 - object\n Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91 - object\n Knife_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_50 - object\n Knife_bar__minus_03_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_93 - object\n Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object\n LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object\n Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31 - object\n Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88 - object\n Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 - object\n PepperShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_00_dot_76 - object\n Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75 - object\n Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93 - object\n Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43 - object\n Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06 - object\n Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SaltShaker_bar__minus_00_dot_17_bar__plus_01_dot_29_bar__minus_00_dot_77 - object\n SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_74_bar__minus_02_dot_80 - object\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object\n SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 - object\n SoapBottle_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_32 - object\n SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 - object\n Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 - object\n Spatula_bar__minus_02_dot_56_bar__plus_00_dot_73_bar__minus_00_dot_80 - object\n Spatula_bar__minus_02_dot_99_bar__plus_00_dot_93_bar__minus_03_dot_88 - object\n Spoon_bar__minus_02_dot_93_bar__plus_00_dot_72_bar__minus_00_dot_64 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object\n StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object\n Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70 - object\n Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle\n Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle\n Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle\n Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle\n Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle\n Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle\n Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle\n Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle\n Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle\n CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle\n CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle\n CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle\n DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle\n Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle\n Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle\n GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle\n Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle\n Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle\n StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle\n Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle\n loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location\n loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location\n loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location\n loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location\n loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location\n loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location\n loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location\n loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location\n loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location\n loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location\n loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location\n loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location\n loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location\n loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location\n loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location\n loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location\n loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar__minus_4_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType)\n (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType)\n (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 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DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51)\n (inReceptacle SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_74_bar__minus_02_dot_80 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle PepperShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_00_dot_76 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76)\n (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09)\n (inReceptacle Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97)\n (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45)\n (inReceptacle Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91)\n (inReceptacle Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_03_bar__plus_01_dot_01_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Cup_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19)\n (inReceptacle Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n (inReceptacle Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 loc_bar__minus_6_bar__minus_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 loc_bar__minus_7_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 loc_bar__minus_6_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_5_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_8_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 loc_bar__minus_9_bar__minus_10_bar_2_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 loc_bar__minus_9_bar__minus_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 loc_bar__minus_8_bar__minus_13_bar_3_bar_0)\n (receptacleAtLocation CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 loc_bar__minus_8_bar__minus_1_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 loc_bar__minus_4_bar__minus_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 loc_bar__minus_4_bar__minus_13_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 loc_bar__minus_4_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 loc_bar__minus_4_bar__minus_8_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 loc_bar__minus_4_bar__minus_13_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_43 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91 loc_bar__minus_4_bar__minus_12_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_74_bar__minus_02_dot_80 loc_bar__minus_9_bar__minus_12_bar_3_bar_45)\n (objectAtLocation Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_32 loc_bar__minus_7_bar__minus_11_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Knife_bar__minus_03_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_93 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_03_bar__plus_01_dot_01_bar__minus_02_dot_19 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_02_dot_56_bar__plus_00_dot_73_bar__minus_00_dot_80 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_7_bar__minus_13_bar_2_bar_60)\n (objectAtLocation Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00 loc_bar__minus_4_bar__minus_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_13 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 loc_bar__minus_4_bar__minus_10_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 loc_bar__minus_4_bar__minus_9_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 loc_bar__minus_4_bar__minus_8_bar_1_bar_60)\n (objectAtLocation Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_66 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 loc_bar__minus_4_bar__minus_10_bar_1_bar_45)\n (objectAtLocation Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06 loc_bar__minus_9_bar__minus_9_bar_3_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 loc_bar__minus_4_bar__minus_1_bar_0_bar_15)\n (objectAtLocation Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 loc_bar__minus_4_bar__minus_10_bar_2_bar_45)\n (objectAtLocation Spatula_bar__minus_02_dot_99_bar__plus_00_dot_93_bar__minus_03_dot_88 loc_bar__minus_4_bar__minus_13_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_00_dot_17_bar__plus_01_dot_29_bar__minus_00_dot_77 loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15)\n (objectAtLocation Knife_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_50 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_00_dot_76 loc_bar__minus_4_bar__minus_3_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75 loc_bar__minus_8_bar__minus_13_bar_2_bar_60)\n (objectAtLocation DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 loc_bar__minus_8_bar__minus_3_bar_3_bar_60)\n (objectAtLocation Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_02_dot_93_bar__plus_00_dot_72_bar__minus_00_dot_64 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_1_bar_45)\n (objectAtLocation Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 loc_bar__minus_7_bar__minus_2_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r CounterTopType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 2 from countertop 1", "go to microwave 1", "heat potato 2 with microwave 1", "go to countertop 1", "move potato 2 to countertop 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152158_373637/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152158_373637/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e50aefeef1e9acedcdfe32bfa690cc0ef483226e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-CounterTop-19/trial_T20190909_152158_373637/initial_state.pddl @@ -0,0 +1,1072 @@ + +(define (problem plan_trial_T20190909_152158_373637) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_57_bar__plus_00_dot_83_bar__minus_03_dot_79 - object + Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_43 - object + Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 - object + Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 - object + ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54 - object + Chair_bar__minus_02_dot_38_bar__plus_00_dot_02_bar__minus_00_dot_55 - object + Chair_bar__minus_03_dot_16_bar__plus_00_dot_01_bar__minus_00_dot_99 - object + Cup_bar__minus_03_dot_03_bar__plus_01_dot_01_bar__minus_02_dot_19 - object + Cup_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_13 - object + Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06 - object + DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53 - object + Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00 - object + Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 - object + Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94 - object + Faucet_bar__minus_01_dot_79_bar__plus_01_dot_14_bar__minus_03_dot_91 - object + Fork_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_66 - object + Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91 - object + Knife_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_50 - object + Knife_bar__minus_03_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_93 - object + Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 - object + LightSwitch_bar__minus_01_dot_11_bar__plus_01_dot_46_bar__plus_00_dot_34 - object + Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31 - object + Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88 - object + Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 - object + PepperShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_00_dot_76 - object + Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75 - object + Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93 - object + Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43 - object + Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06 - object + Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SaltShaker_bar__minus_00_dot_17_bar__plus_01_dot_29_bar__minus_00_dot_77 - object + SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_74_bar__minus_02_dot_80 - object + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75 - object + SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 - object + SoapBottle_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_32 - object + SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 - object + Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 - object + Spatula_bar__minus_02_dot_56_bar__plus_00_dot_73_bar__minus_00_dot_80 - object + Spatula_bar__minus_02_dot_99_bar__plus_00_dot_93_bar__minus_03_dot_88 - object + Spoon_bar__minus_02_dot_93_bar__plus_00_dot_72_bar__minus_00_dot_64 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_00 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_17 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_31 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_00_dot_90_bar__minus_02_dot_47 - object + Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70 - object + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_02_dot_73 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 - receptacle + Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 - receptacle + Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 - receptacle + Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 - receptacle + Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 - receptacle + Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 - receptacle + Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 - receptacle + Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 - receptacle + Cabinet_bar__minus_06_dot_01_bar__plus_01_dot_14_bar__minus_06_dot_02 - receptacle + CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 - receptacle + CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 - receptacle + CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 - receptacle + DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 - receptacle + Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 - receptacle + Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 - receptacle + GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 - receptacle + Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 - receptacle + Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 - receptacle + StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 - receptacle + Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 - receptacle + loc_bar__minus_9_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_4_bar__minus_13_bar_2_bar__minus_15 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_45 - location + loc_bar__minus_8_bar__minus_9_bar_3_bar__minus_30 - location + loc_bar__minus_4_bar__minus_13_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_1_bar_45 - location + loc_bar__minus_7_bar__minus_13_bar_2_bar_60 - location + loc_bar__minus_9_bar__minus_5_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_4_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_8_bar__minus_11_bar_3_bar__minus_30 - location + loc_bar__minus_5_bar__minus_13_bar_1_bar_30 - location + loc_bar__minus_6_bar__minus_13_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_10_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_9_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_1_bar_0_bar_15 - location + loc_bar__minus_8_bar__minus_3_bar_3_bar_60 - location + loc_bar__minus_7_bar__minus_11_bar_1_bar_45 - location + loc_bar__minus_4_bar__minus_8_bar_1_bar_60 - location + loc_bar__minus_5_bar__minus_10_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_12_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_30 - location + loc_bar__minus_4_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_1_bar_60 - location + loc_bar__minus_8_bar__minus_13_bar_3_bar_0 - location + loc_bar__minus_4_bar__minus_12_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_2_bar_1_bar__minus_15 - location + loc_bar__minus_4_bar__minus_3_bar_1_bar_45 - location + loc_bar__minus_8_bar__minus_1_bar_3_bar_45 - location + loc_bar__minus_7_bar__minus_2_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_6_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_9_bar_1_bar_60 - location + loc_bar__minus_4_bar__minus_7_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar__minus_4_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__minus_00_dot_61_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80 CounterTopType) + (receptacleType Cabinet_bar__minus_02_dot_98_bar__plus_00_dot_39_bar__minus_03_dot_20 CabinetType) + (receptacleType Cabinet_bar__minus_02_dot_15_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 CabinetType) + (receptacleType CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09 CounterTopType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_02_dot_71 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_02_dot_81_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_03_dot_35 DrawerType) + (receptacleType Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19 FridgeType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_02_dot_74 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_23_bar__plus_01_dot_81_bar__minus_03_dot_76 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_01_dot_41 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_03 StoveBurnerType) + (receptacleType DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51 DiningTableType) + (receptacleType Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76 DrawerType) + (receptacleType Toaster_bar__minus_00_dot_23_bar__plus_00_dot_90_bar__minus_03_dot_41 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType) + (receptacleType Cabinet_bar__minus_03_dot_23_bar__plus_01_dot_80_bar__minus_03_dot_34 CabinetType) + (receptacleType GarbageCan_bar__minus_00_dot_28_bar__plus_00_dot_00_bar__minus_00_dot_04 GarbageCanType) + (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_01_dot_74 CabinetType) + (receptacleType Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_03_dot_02_bar__plus_02_dot_10_bar__minus_02_dot_68 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_01_dot_74 CabinetType) + (receptacleType Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97 DrawerType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_00_dot_45 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_38_bar__plus_00_dot_39_bar__minus_03_dot_51 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_01_dot_73 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_24_bar__plus_02_dot_10_bar__minus_01_dot_77 CabinetType) + (receptacleType StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45 StoveBurnerType) + (receptacleType Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91 MicrowaveType) + (receptacleType CoffeeMachine_bar__minus_03_dot_10_bar__plus_00_dot_71_bar__minus_00_dot_19 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Knife_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_50) + (cleanable Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91) + (cleanable Spoon_bar__minus_02_dot_93_bar__plus_00_dot_72_bar__minus_00_dot_64) + (cleanable Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79) + (cleanable Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88) + (cleanable Spatula_bar__minus_02_dot_99_bar__plus_00_dot_93_bar__minus_03_dot_88) + (cleanable Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93) + (cleanable Fork_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_66) + (cleanable ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54) + (cleanable Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75) + (cleanable Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19) + (cleanable DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53) + (cleanable 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Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00) + (heatable Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31) + (heatable Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88) + (heatable Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79) + (heatable Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93) + (heatable Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75) + (heatable Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19) + (heatable Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94) + (heatable Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06) + (heatable Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43) + (heatable Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70) + (heatable Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06) + (heatable 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Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00) + (sliceable Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76) + (sliceable Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79) + (sliceable Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93) + (sliceable Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19) + (sliceable Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94) + (sliceable Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43) + (sliceable Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70) + (sliceable Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06) + + (inReceptacle Knife_bar__minus_03_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_93 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Bread_bar__minus_00_dot_33_bar__plus_00_dot_95_bar__minus_03_dot_68 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Pot_bar__minus_02_dot_84_bar__plus_00_dot_90_bar__minus_03_dot_75 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Lettuce_bar__minus_01_dot_32_bar__plus_00_dot_99_bar__minus_03_dot_76 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Spatula_bar__minus_02_dot_99_bar__plus_00_dot_93_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Potato_bar__minus_03_dot_06_bar__plus_00_dot_96_bar__minus_03_dot_43 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Fork_bar__minus_01_dot_06_bar__plus_00_dot_91_bar__minus_03_dot_66 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle Spatula_bar__minus_00_dot_65_bar__plus_00_dot_93_bar__minus_03_dot_88 CounterTop_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__minus_03_dot_80) + (inReceptacle SoapBottle_bar__minus_00_dot_49_bar__plus_00_dot_08_bar__minus_03_dot_32 Cabinet_bar__minus_00_dot_58_bar__plus_00_dot_39_bar__minus_03_dot_48) + (inReceptacle SaltShaker_bar__minus_00_dot_17_bar__plus_01_dot_29_bar__minus_00_dot_77 Cabinet_bar__minus_00_dot_23_bar__plus_01_dot_80_bar__minus_00_dot_45) + (inReceptacle SoapBottle_bar__minus_01_dot_07_bar__plus_00_dot_08_bar__minus_03_dot_71 Cabinet_bar__minus_01_dot_36_bar__plus_00_dot_39_bar__minus_03_dot_51) + (inReceptacle Knife_bar__minus_02_dot_44_bar__plus_00_dot_75_bar__minus_00_dot_50 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spoon_bar__minus_02_dot_93_bar__plus_00_dot_72_bar__minus_00_dot_64 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Potato_bar__minus_03_dot_03_bar__plus_00_dot_76_bar__minus_00_dot_93 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Tomato_bar__minus_03_dot_07_bar__plus_00_dot_77_bar__minus_00_dot_70 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Spatula_bar__minus_02_dot_56_bar__plus_00_dot_73_bar__minus_00_dot_80 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle DishSponge_bar__minus_03_dot_10_bar__plus_00_dot_72_bar__minus_00_dot_53 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle Bowl_bar__minus_02_dot_80_bar__plus_00_dot_71_bar__minus_00_dot_78 DiningTable_bar__minus_02_dot_87_bar__plus_00_dot_68_bar__minus_00_dot_51) + (inReceptacle SaltShaker_bar__minus_03_dot_05_bar__plus_00_dot_74_bar__minus_02_dot_80 Drawer_bar__minus_03_dot_10_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_38_bar__plus_00_dot_94_bar__minus_02_dot_45) + (inReceptacle PepperShaker_bar__minus_00_dot_41_bar__plus_00_dot_74_bar__minus_00_dot_76 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_00_dot_76) + (inReceptacle Bowl_bar__minus_00_dot_42_bar__plus_00_dot_91_bar__minus_01_dot_43 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Mug_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__minus_01_dot_31 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle SoapBottle_bar__minus_00_dot_01_bar__plus_00_dot_92_bar__minus_01_dot_56 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle ButterKnife_bar__minus_00_dot_42_bar__plus_00_dot_92_bar__minus_00_dot_54 CounterTop_bar__minus_00_dot_27_bar__plus_00_dot_95_bar__minus_01_dot_09) + (inReceptacle Knife_bar__minus_00_dot_47_bar__plus_00_dot_78_bar__minus_02_dot_91 Drawer_bar__minus_00_dot_45_bar__plus_00_dot_80_bar__minus_02_dot_97) + (inReceptacle Pan_bar__minus_00_dot_38_bar__plus_00_dot_98_bar__minus_02_dot_45 StoveBurner_bar__minus_00_dot_17_bar__plus_00_dot_94_bar__minus_02_dot_45) + (inReceptacle Egg_bar__minus_00_dot_22_bar__plus_01_dot_03_bar__minus_01_dot_00 Microwave_bar__minus_00_dot_14_bar__plus_00_dot_90_bar__minus_00_dot_91) + (inReceptacle Egg_bar__minus_03_dot_13_bar__plus_00_dot_68_bar__minus_01_dot_94 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Mug_bar__minus_03_dot_13_bar__plus_01_dot_39_bar__minus_01_dot_88 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Cup_bar__minus_03_dot_23_bar__plus_01_dot_01_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Egg_bar__minus_03_dot_08_bar__plus_00_dot_68_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Potato_bar__minus_03_dot_18_bar__plus_01_dot_44_bar__minus_02_dot_06 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Cup_bar__minus_03_dot_03_bar__plus_01_dot_01_bar__minus_02_dot_19 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Cup_bar__minus_03_dot_08_bar__plus_01_dot_40_bar__minus_02_dot_13 Fridge_bar__minus_03_dot_19_bar__plus_00_dot_00_bar__minus_02_dot_19) + (inReceptacle Apple_bar__minus_01_dot_57_bar__plus_00_dot_83_bar__minus_03_dot_79 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + (inReceptacle Plate_bar__minus_01_dot_91_bar__plus_00_dot_79_bar__minus_03_dot_75 Sink_bar__minus_01_dot_79_bar__plus_00_dot_90_bar__minus_03_dot_75_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_21_bar__minus_04_dot_24 loc_bar__minus_5_bar__minus_13_bar_1_bar_30) + (receptacleAtLocation 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removing it afterwards.", + "Turn to face the counter to the right of the microwave.", + "Set the potato down on the counter." + ], + "task_desc": "Microwave a potato to set it on the counter afterwards.", + "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-Potato-None-Fridge-27/trial_T20190908_143628_766051/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8d65bc1979cc4265db650b5f2ba01bcc41f4c7af --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some potato and put it in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_143628_766051)\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_12_bar__plus_00_dot_84_bar__plus_01_dot_39 - object\n Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 - object\n Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object\n ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Cup_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n DishSponge_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_02_dot_58 - object\n DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_94_bar__plus_02_dot_45 - object\n Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 - object\n Knife_bar__plus_02_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_20 - object\n Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 - object\n Ladle_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__plus_00_dot_45 - object\n Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object\n Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 - object\n Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_51 - object\n Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__plus_02_dot_02_bar__plus_01_dot_51_bar__minus_00_dot_10 - object\n Mug_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n PepperShaker_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_36 - object\n Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_13 - object\n Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01 - object\n Potato_bar__plus_02_dot_15_bar__plus_00_dot_98_bar__plus_01_dot_87 - object\n Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37 - object\n Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 - object\n Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n SaltShaker_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_44 - object\n SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 - object\n SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_26 - object\n Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 - object\n Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 - object\n Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10 - object\n WineBottle_bar__plus_02_dot_26_bar__plus_00_dot_94_bar__plus_02_dot_90 - object\n WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle\n Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle\n Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle\n GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle\n Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle\n StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle\n StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle\n Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle\n loc_bar_5_bar_1_bar_1_bar__minus_15 - location\n loc_bar_2_bar_3_bar_3_bar_60 - location\n loc_bar_5_bar_4_bar_1_bar_30 - location\n loc_bar_1_bar_0_bar_3_bar_60 - location\n loc_bar_5_bar_7_bar_1_bar__minus_30 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_5_bar_7_bar_0_bar__minus_30 - location\n loc_bar_4_bar_3_bar_1_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar_8_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_0_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType)\n (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType)\n (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType)\n (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (objectType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 SinkType)\n (objectType SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 SaltShakerType)\n (objectType LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 LightSwitchType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 StoveKnobType)\n (objectType Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 PotatoType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 StoveKnobType)\n (objectType StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 StoveKnobType)\n (objectType Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 EggType)\n (objectType Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 CurtainsType)\n (objectType PepperShaker_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_36 PepperShakerType)\n (objectType Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10 TomatoType)\n (objectType SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 SaltShakerType)\n (objectType DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_94_bar__plus_02_dot_45 DishSpongeType)\n (objectType Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 CupType)\n (objectType Knife_bar__plus_02_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_20 KnifeType)\n (objectType Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 SpatulaType)\n (objectType Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 KnifeType)\n (objectType Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 BowlType)\n (objectType Apple_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_39 AppleType)\n (objectType Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37 PotatoType)\n (objectType WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 WineBottleType)\n (objectType Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 TomatoType)\n (objectType Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 LettuceType)\n (objectType Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_13 PlateType)\n (objectType 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(canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType LadleType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n 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Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_51)\n (coolable Cup_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88)\n (coolable Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81)\n \n (isCool Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01)\n (isCool Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37)\n \n \n \n (sliceable Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55)\n (sliceable Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19)\n (sliceable Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10)\n (sliceable Apple_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_39)\n (sliceable Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37)\n (sliceable Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37)\n (sliceable Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46)\n (sliceable 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Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28)\n (inReceptacle Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_26 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_94_bar__plus_02_dot_45 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle WineBottle_bar__plus_02_dot_26_bar__plus_00_dot_94_bar__plus_02_dot_90 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_51 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Potato_bar__plus_02_dot_15_bar__plus_00_dot_98_bar__plus_01_dot_87 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62)\n (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50)\n (inReceptacle Ladle_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__plus_00_dot_45 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Apple_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Knife_bar__plus_02_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_20 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Mug_bar__plus_02_dot_02_bar__plus_01_dot_51_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle DishSponge_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_94_bar__plus_02_dot_45 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Knife_bar__plus_02_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation WineBottle_bar__plus_02_dot_26_bar__plus_00_dot_94_bar__plus_02_dot_90 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_51 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation SaltShaker_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_44 loc_bar_3_bar_4_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_02_dot_58 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_02_dot_15_bar__plus_00_dot_98_bar__plus_01_dot_87 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45)\n (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30)\n (objectAtLocation Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_26 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Ladle_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__plus_00_dot_45 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_36 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (objectAtLocation Cup_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_13 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__plus_02_dot_02_bar__plus_01_dot_51_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 loc_bar_5_bar_7_bar_0_bar__minus_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to diningtable 1", "take potato 4 from diningtable 1", "go to microwave 1", "heat potato 4 with microwave 1", "go to fridge 1", "open fridge 1", "move potato 4 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e61e61cb306ca70f0aab3bf26e5357b6610cd170 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/initial_state.pddl @@ -0,0 +1,977 @@ + +(define (problem plan_trial_T20190908_143628_766051) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_12_bar__plus_00_dot_84_bar__plus_01_dot_39 - object + Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 - object + Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 - object + ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Cup_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Cup_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + DishSponge_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_02_dot_58 - object + DishSponge_bar__minus_00_dot_35_bar__plus_00_dot_94_bar__plus_02_dot_45 - object + Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 - object + Knife_bar__plus_02_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_20 - object + Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 - object + Ladle_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__plus_00_dot_45 - object + Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 - object + Lettuce_bar__plus_00_dot_28_bar__plus_00_dot_99_bar__plus_02_dot_61 - object + Lettuce_bar__plus_01_dot_67_bar__plus_01_dot_00_bar__plus_02_dot_51 - object + Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_02_dot_02_bar__plus_01_dot_51_bar__minus_00_dot_10 - object + Mug_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + PepperShaker_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_36 - object + Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_13 - object + Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01 - object + Potato_bar__plus_02_dot_15_bar__plus_00_dot_98_bar__plus_01_dot_87 - object + Potato_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_37 - object + Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + SaltShaker_bar__plus_02_dot_00_bar__plus_00_dot_08_bar__plus_00_dot_44 - object + SaltShaker_bar__plus_02_dot_15_bar__plus_00_dot_93_bar__plus_00_dot_36 - object + SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_26 - object + Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 - object + Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 - object + Tomato_bar__plus_02_dot_22_bar__plus_01_dot_37_bar__minus_00_dot_10 - object + WineBottle_bar__plus_02_dot_26_bar__plus_00_dot_94_bar__plus_02_dot_90 - object + WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + 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- location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_0_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType 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Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle DishSponge_bar__plus_01_dot_12_bar__plus_00_dot_79_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation 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Potato_bar__minus_00_dot_12_bar__plus_00_dot_83_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_02_dot_15_bar__plus_00_dot_98_bar__plus_01_dot_87 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45) + (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30) + (objectAtLocation Egg_bar__plus_02_dot_21_bar__plus_00_dot_64_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_02_dot_18_bar__plus_01_dot_58_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Fork_bar__plus_01_dot_22_bar__plus_00_dot_80_bar__plus_02_dot_64 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation SoapBottle_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_02_dot_26 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Ladle_bar__plus_01_dot_84_bar__plus_00_dot_79_bar__plus_00_dot_45 loc_bar_4_bar_3_bar_1_bar_30) + (objectAtLocation Ladle_bar__minus_00_dot_10_bar__plus_00_dot_94_bar__plus_02_dot_55 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Bread_bar__minus_00_dot_20_bar__plus_00_dot_82_bar__plus_00_dot_81 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SaltShaker_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_01 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Pan_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15) + (objectAtLocation WineBottle_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Spatula_bar__minus_00_dot_07_bar__plus_00_dot_76_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Knife_bar__minus_00_dot_12_bar__plus_00_dot_82_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Apple_bar__minus_00_dot_12_bar__plus_00_dot_84_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Pot_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_02_dot_20_bar__plus_01_dot_50_bar__plus_00_dot_36 loc_bar_5_bar_1_bar_1_bar__minus_15) + (objectAtLocation Cup_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_00_dot_03_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_93_bar__plus_00_dot_09_bar__plus_02_dot_13 loc_bar_3_bar_6_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_02_bar__plus_01_dot_51_bar__minus_00_dot_10 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Bowl_bar__plus_01_dot_86_bar__plus_01_dot_50_bar__plus_02_dot_77 loc_bar_5_bar_7_bar_0_bar__minus_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o PotatoType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143628_766051/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..01f71f49dba937b1bc6aa01336b61096ab68b068 --- /dev/null +++ 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180.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_a2dda372", + "position": { + "x": 1.85448289, + "y": 0.9379, + "z": 1.497 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_1fe08306", + "position": { + "x": 2.20367, + "y": 1.49853539, + "z": 0.358988255 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_7054e289", + "position": { + "x": -0.196089536, + "y": 0.7892291, + "z": 1.049764 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_6b8b37c4", + "position": { + "x": -0.348719835, + "y": 0.9372642, + "z": 2.451735 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_922e45ca", + "position": { + "x": 1.92592835, + "y": 0.0863831043, + "z": 2.12878227 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9b26f0a9", + "position": { + "x": -0.349214524, + "y": 0.7920931, + "z": 0.8815999 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_5c2a3ea2", + "position": { + "x": -0.0429645181, + "y": 0.7859668, + "z": 0.8815999 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_dbaf3456", + "position": { + "x": 1.85568142, + "y": 1.49980843, + "z": 2.7679956 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3834855748, + "scene_num": 27 + }, + "task_id": "trial_T20190908_143628_766051", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_32AT8R96GO0DLNA2RMS8JQBHJ8NUSJ", + "high_descs": [ + "Walk over to the white table on your left.", + "Pick up the sweet potato off of the white table.", + "Turn right and walk over to the microwave on the counter.", + "Put the sweet potato in the microwave and turn it on, after a couple seconds remove the sweet potato and close the microwave.", + "Turn left and walk across the room, then turn left and walk up to the fridge.", + "Put the heated sweet potato in the fridge then close the door." + ], + "task_desc": "Put a heated sweet potato in the fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2871R3LEPWMMK_3SB5N7Y3O6VUFWPVYFK75547F950GK", + "high_descs": [ + "Turn left and walk to the white table ahead.", + "Pick up the potato to the left of the loaf of bread on the table.", + "Head right to the counter and turn left to face the microwave on the counter.", + "Put the potato inside the microwave to the left of the plate, heat it for a few seconds, remove it and close the door.", + "Turn left, head to the wall and walk to the black fridge on the left.", + "Put the heated potato inside the fridge on the middle shelf in front of the egg and close the door." + ], + "task_desc": "Place a heated potato in a fridge.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ARB8SJAWXUWTD_3IUZPWIU1RYSP8MZHDY7AS54NUUKW0", + "high_descs": [ + "Go to the white table", + "Pick up a potato", + "Go to the microwave", + "Heat the potato", + "Go to the fridge", + "Put the potato in the fridge" + ], + "task_desc": "Put a heated potato in the fridge", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3af2f9c65a72867cbff3b70135649b4070d4eb9d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some potato and put it in fridge.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_143748_027076)\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_37_bar__minus_00_dot_55 - object\n Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 - object\n Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_69 - object\n Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 - object\n ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object\n Cup_bar__plus_01_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_46 - object\n Cup_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 - object\n Cup_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object\n DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 - object\n DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_99 - object\n Egg_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_87 - object\n Egg_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 - object\n Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object\n Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 - object\n Fork_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Knife_bar__plus_00_dot_00_bar__plus_00_dot_77_bar__plus_02_dot_20 - object\n Knife_bar__minus_00_dot_03_bar__plus_00_dot_77_bar__plus_02_dot_20 - object\n Ladle_bar__plus_02_dot_00_bar__plus_00_dot_13_bar__plus_01_dot_92 - object\n Ladle_bar__minus_00_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_20 - object\n Ladle_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_00_dot_55 - object\n Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 - object\n Lettuce_bar__plus_01_dot_84_bar__plus_01_dot_00_bar__plus_02_dot_36 - object\n LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object\n Mug_bar__plus_02_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_81 - object\n Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 - object\n PepperShaker_bar__plus_02_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_42 - object\n PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_93_bar__plus_02_dot_43 - object\n PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 - object\n Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 - object\n Potato_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_73 - object\n Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object\n Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 - object\n SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object\n SoapBottle_bar__plus_02_dot_17_bar__plus_01_dot_50_bar__plus_00_dot_73 - object\n SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 - object\n Spatula_bar__plus_00_dot_79_bar__plus_00_dot_81_bar__plus_02_dot_58 - object\n Spatula_bar__plus_01_dot_67_bar__plus_00_dot_95_bar__plus_02_dot_51 - object\n Spatula_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_00_dot_72 - object\n Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 - object\n Spoon_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object\n StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object\n Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 - object\n Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_55 - object\n Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 - object\n WineBottle_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_00_dot_36 - object\n WineBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_02_dot_01 - object\n WineBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_88 - object\n Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle\n Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle\n Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle\n CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle\n CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle\n DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle\n Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle\n Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle\n Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - 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loc_bar_5_bar_7_bar_1_bar__minus_30 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_5_bar_7_bar_0_bar__minus_30 - location\n loc_bar_4_bar_3_bar_1_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar_45 - location\n loc_bar_4_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_45 - location\n loc_bar_4_bar_8_bar_1_bar_45 - location\n loc_bar_3_bar__minus_1_bar_3_bar_60 - location\n loc_bar_5_bar_6_bar_1_bar_30 - location\n loc_bar_5_bar_2_bar_1_bar__minus_15 - location\n loc_bar_3_bar_8_bar_3_bar_45 - location\n loc_bar_1_bar__minus_2_bar_2_bar_15 - location\n loc_bar_4_bar_8_bar_0_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar__minus_15 - location\n loc_bar_5_bar_5_bar_1_bar_30 - location\n loc_bar_3_bar_6_bar_0_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_30 - location\n loc_bar_4_bar_8_bar_0_bar__minus_30 - location\n loc_bar_2_bar_8_bar_3_bar_45 - location\n loc_bar_5_bar__minus_1_bar_1_bar_60 - location\n loc_bar_3_bar_4_bar_1_bar_45 - location\n loc_bar_3_bar_5_bar_1_bar__minus_15 - location\n loc_bar_5_bar_2_bar_1_bar_45 - location\n loc_bar_4_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_6_bar_1_bar_45 - location\n loc_bar_5_bar_4_bar_1_bar_45 - location\n loc_bar_2_bar_6_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType)\n (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType)\n (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType)\n (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType)\n 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(receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType)\n (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType)\n (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType)\n (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType)\n (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType)\n (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType)\n (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType)\n (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType)\n (receptacleType 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Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Spoon_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Egg_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_87 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_93_bar__plus_02_dot_43 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Spatula_bar__plus_01_dot_67_bar__plus_00_dot_95_bar__plus_02_dot_51 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Lettuce_bar__plus_01_dot_84_bar__plus_01_dot_00_bar__plus_02_dot_36 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_69 CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67)\n (inReceptacle WineBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_02_dot_01 Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81)\n (inReceptacle Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36)\n (inReceptacle SoapBottle_bar__plus_02_dot_17_bar__plus_01_dot_50_bar__plus_00_dot_73 Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87)\n (inReceptacle Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Spatula_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_00_dot_72 Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58)\n (inReceptacle Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle WineBottle_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_00_dot_36 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Potato_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_73 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Mug_bar__plus_02_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_81 CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58)\n (inReceptacle Fork_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Ladle_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Egg_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle WineBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Cup_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_88 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88)\n (inReceptacle Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11)\n (inReceptacle DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06)\n (inReceptacle Cup_bar__plus_01_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Cup_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28)\n (inReceptacle Spatula_bar__plus_00_dot_79_bar__plus_00_dot_81_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n (inReceptacle DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_3_bar_6_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 loc_bar_3_bar_4_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 loc_bar_3_bar_6_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 loc_bar_5_bar_1_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 loc_bar_5_bar_2_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 loc_bar_3_bar_6_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 loc_bar_3_bar_5_bar_1_bar__minus_15)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30)\n (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30)\n (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30)\n (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60)\n (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (receptacleAtLocation Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_99 loc_bar_4_bar_8_bar_1_bar_45)\n (objectAtLocation Cup_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_93_bar__plus_02_dot_43 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Knife_bar__plus_00_dot_00_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Spatula_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_00_dot_72 loc_bar_4_bar_3_bar_1_bar_30)\n (objectAtLocation WineBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_02_dot_01 loc_bar_5_bar_7_bar_1_bar__minus_30)\n (objectAtLocation Ladle_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation 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StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30)\n (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30)\n (objectAtLocation Lettuce_bar__plus_01_dot_84_bar__plus_01_dot_00_bar__plus_02_dot_36 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Fork_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Ladle_bar__minus_00_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_20 loc_bar_4_bar_7_bar_3_bar_60)\n (objectAtLocation Ladle_bar__plus_02_dot_00_bar__plus_00_dot_13_bar__plus_01_dot_92 loc_bar_3_bar_6_bar_1_bar_45)\n (objectAtLocation Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_73 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15)\n (objectAtLocation WineBottle_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45)\n (objectAtLocation Spatula_bar__plus_01_dot_67_bar__plus_00_dot_95_bar__plus_02_dot_51 loc_bar_5_bar_7_bar_0_bar_30)\n (objectAtLocation Knife_bar__minus_00_dot_03_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60)\n (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 loc_bar_3_bar_6_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60)\n (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60)\n (objectAtLocation Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_69 loc_bar_5_bar_7_bar_0_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o PotatoType)\n (receptacleType ?r FridgeType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take potato 1 from countertop 1", "go to microwave 1", "heat potato 1 with microwave 1", "go to fridge 1", "open fridge 1", "move potato 1 to fridge 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..acb6943a1f67aa6513c4bf56e1763425e3526695 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/initial_state.pddl @@ -0,0 +1,1026 @@ + +(define (problem plan_trial_T20190908_143748_027076) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_37_bar__minus_00_dot_55 - object + Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 - object + Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_69 - object + Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 - object + ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 - object + Cup_bar__plus_01_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_46 - object + Cup_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 - object + Cup_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 - object + DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 - object + DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_99 - object + Egg_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_87 - object + Egg_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 - object + Faucet_bar__plus_00_dot_69_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Faucet_bar__plus_01_dot_18_bar__plus_00_dot_93_bar__plus_02_dot_95 - object + Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 - object + Fork_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Knife_bar__plus_00_dot_00_bar__plus_00_dot_77_bar__plus_02_dot_20 - object + Knife_bar__minus_00_dot_03_bar__plus_00_dot_77_bar__plus_02_dot_20 - object + Ladle_bar__plus_02_dot_00_bar__plus_00_dot_13_bar__plus_01_dot_92 - object + Ladle_bar__minus_00_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_20 - object + Ladle_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_00_dot_55 - object + Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 - object + Lettuce_bar__plus_01_dot_84_bar__plus_01_dot_00_bar__plus_02_dot_36 - object + LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 - object + Mug_bar__plus_02_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_81 - object + Mug_bar__minus_00_dot_20_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 - object + PepperShaker_bar__plus_02_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_42 - object + PepperShaker_bar__minus_00_dot_20_bar__plus_00_dot_93_bar__plus_02_dot_43 - object + PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 - object + Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 - object + Potato_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_73 - object + Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 - object + Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 - object + SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 - object + SoapBottle_bar__plus_02_dot_17_bar__plus_01_dot_50_bar__plus_00_dot_73 - object + SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 - object + Spatula_bar__plus_00_dot_79_bar__plus_00_dot_81_bar__plus_02_dot_58 - object + Spatula_bar__plus_01_dot_67_bar__plus_00_dot_95_bar__plus_02_dot_51 - object + Spatula_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_00_dot_72 - object + Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 - object + Spoon_bar__minus_00_dot_14_bar__plus_00_dot_75_bar__plus_02_dot_06 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 - object + StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 - object + Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 - object + Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_55 - object + Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 - object + WineBottle_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_00_dot_36 - object + WineBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_02_dot_01 - object + WineBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_88 - object + Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 - receptacle + Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 - receptacle + CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 - receptacle + CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 - receptacle + DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 - receptacle + Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 - receptacle + Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 - receptacle + Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 - receptacle + GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 - receptacle + Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 - receptacle + Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 - receptacle + StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 - receptacle + Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 - receptacle + loc_bar_5_bar_1_bar_1_bar__minus_15 - location + loc_bar_2_bar_3_bar_3_bar_60 - location + loc_bar_5_bar_4_bar_1_bar_30 - location + loc_bar_1_bar_0_bar_3_bar_60 - location + loc_bar_5_bar_7_bar_1_bar__minus_30 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_5_bar_7_bar_0_bar__minus_30 - location + loc_bar_4_bar_3_bar_1_bar_30 - location + loc_bar_4_bar_8_bar_0_bar_45 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_45 - location + loc_bar_4_bar_8_bar_1_bar_45 - location + loc_bar_3_bar__minus_1_bar_3_bar_60 - location + loc_bar_5_bar_6_bar_1_bar_30 - location + loc_bar_5_bar_2_bar_1_bar__minus_15 - location + loc_bar_3_bar_8_bar_3_bar_45 - location + loc_bar_1_bar__minus_2_bar_2_bar_15 - location + loc_bar_4_bar_8_bar_0_bar_60 - location + loc_bar_3_bar_6_bar_1_bar__minus_15 - location + loc_bar_5_bar_5_bar_1_bar_30 - location + loc_bar_3_bar_6_bar_0_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_30 - location + loc_bar_4_bar_8_bar_0_bar__minus_30 - location + loc_bar_2_bar_8_bar_3_bar_45 - location + loc_bar_5_bar__minus_1_bar_1_bar_60 - location + loc_bar_3_bar_4_bar_1_bar_45 - location + loc_bar_3_bar_5_bar_1_bar__minus_15 - location + loc_bar_5_bar_2_bar_1_bar_45 - location + loc_bar_4_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_6_bar_1_bar_45 - location + loc_bar_5_bar_4_bar_1_bar_45 - location + loc_bar_2_bar_6_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_77 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_28 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_00_dot_89 CabinetType) + (receptacleType CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 CounterTopType) + (receptacleType Toaster_bar__plus_02_dot_13_bar__plus_00_dot_93_bar__plus_00_dot_57 ToasterType) + (receptacleType Cabinet_bar__plus_01_dot_51_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_02_dot_35 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_76_bar__plus_00_dot_39_bar__plus_00_dot_87 CabinetType) + (receptacleType Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 FridgeType) + (receptacleType CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 CounterTopType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 CabinetType) + (receptacleType Cabinet_bar__plus_02_dot_04_bar__plus_01_dot_81_bar__plus_00_dot_87 CabinetType) + (receptacleType StoveBurner_bar__plus_02_dot_14_bar__plus_00_dot_93_bar__plus_01_dot_11 StoveBurnerType) + (receptacleType Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 DrawerType) + (receptacleType DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 DiningTableType) + (receptacleType Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 StoveBurnerType) + (receptacleType CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 CoffeeMachineType) + (receptacleType GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 GarbageCanType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_02_dot_11_bar__plus_02_dot_62 CabinetType) + (receptacleType Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 MicrowaveType) + (receptacleType 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Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle Egg_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88) + (inReceptacle 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Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11) + (inReceptacle DishSponge_bar__plus_01_dot_95_bar__plus_00_dot_75_bar__plus_01_dot_99 Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06) + (inReceptacle Cup_bar__plus_01_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Cup_bar__plus_02_dot_17_bar__plus_01_dot_32_bar__minus_00_dot_37 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Apple_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_55 Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28) + (inReceptacle Spatula_bar__plus_00_dot_79_bar__plus_00_dot_81_bar__plus_02_dot_58 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + (inReceptacle DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_13_bar__plus_00_dot_39_bar__plus_01_dot_77 loc_bar_4_bar_7_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_35_bar__plus_00_dot_39_bar__plus_02_dot_36 loc_bar_4_bar_6_bar_0_bar_60) + (receptacleAtLocation 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(receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_01_dot_81 loc_bar_5_bar_7_bar_1_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_02_dot_04_bar__plus_02_dot_11_bar__plus_02_dot_62 loc_bar_5_bar_7_bar_0_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_02_dot_12_bar__plus_00_dot_93_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_07_bar__plus_00_dot_97_bar__plus_02_dot_67 loc_bar_5_bar_7_bar_0_bar_30) + (receptacleAtLocation CounterTop_bar__plus_02_dot_06_bar__plus_00_dot_97_bar__plus_00_dot_58 loc_bar_5_bar_2_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__minus_00_dot_21_bar__plus_00_dot_02_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_91_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_4_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_17_bar__plus_00_dot_77_bar__plus_00_dot_58 loc_bar_4_bar_3_bar_1_bar_30) + (receptacleAtLocation Drawer_bar__minus_00_dot_02_bar__plus_00_dot_77_bar__plus_02_dot_06 loc_bar_3_bar_8_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__plus_02_dot_10_bar__plus_00_dot_00_bar__minus_00_dot_28 loc_bar_5_bar__minus_1_bar_1_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_33_bar__plus_00_dot_00_bar__minus_00_dot_80 loc_bar_3_bar__minus_1_bar_3_bar_60) + (receptacleAtLocation Microwave_bar__minus_00_dot_31_bar__plus_00_dot_93_bar__plus_02_dot_08 loc_bar_2_bar_8_bar_3_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65_bar_SinkBasin loc_bar_4_bar_8_bar_0_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_86_bar__plus_00_dot_93_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_87_bar__plus_00_dot_93_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (receptacleAtLocation 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Pot_bar__plus_02_dot_16_bar__plus_00_dot_60_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Apple_bar__plus_02_dot_00_bar__plus_01_dot_37_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_03_bar__plus_00_dot_84_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Knife_bar__plus_00_dot_00_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Spatula_bar__plus_02_dot_01_bar__plus_00_dot_76_bar__plus_00_dot_72 loc_bar_4_bar_3_bar_1_bar_30) + (objectAtLocation WineBottle_bar__plus_02_dot_28_bar__plus_01_dot_50_bar__plus_02_dot_01 loc_bar_5_bar_7_bar_1_bar__minus_30) + (objectAtLocation Ladle_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_00_dot_55 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__plus_02_dot_17_bar__plus_01_dot_50_bar__plus_00_dot_73 loc_bar_5_bar_2_bar_1_bar__minus_15) + (objectAtLocation Fork_bar__plus_01_dot_80_bar__plus_00_dot_75_bar__plus_00_dot_51 loc_bar_4_bar_3_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_00_dot_03_bar__plus_00_dot_85_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Egg_bar__plus_02_dot_00_bar__plus_00_dot_98_bar__plus_01_dot_87 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Mug_bar__plus_02_dot_23_bar__plus_00_dot_93_bar__plus_00_dot_81 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__plus_02_dot_13_bar__plus_01_dot_50_bar__plus_00_dot_42 loc_bar_5_bar_1_bar_1_bar__minus_15) + (objectAtLocation Tomato_bar__plus_02_dot_11_bar__plus_01_dot_37_bar__minus_00_dot_55 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Cup_bar__plus_01_dot_99_bar__plus_00_dot_34_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_79_bar__plus_00_dot_81_bar__plus_02_dot_58 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation WineBottle_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Sink_bar__plus_00_dot_94_bar__plus_00_dot_94_bar__plus_02_dot_65 loc_bar_4_bar_8_bar_0_bar_45) + (objectAtLocation Curtains_bar__plus_00_dot_97_bar__plus_02_dot_06_bar__plus_02_dot_99 loc_bar_4_bar_8_bar_0_bar__minus_30) + (objectAtLocation Egg_bar__minus_00_dot_43_bar__plus_00_dot_83_bar__plus_00_dot_38 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_61 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_46 loc_bar_5_bar_6_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_21 loc_bar_5_bar_5_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_33_bar__plus_01_dot_09_bar__plus_01_dot_05 loc_bar_5_bar_4_bar_1_bar_30) + (objectAtLocation Lettuce_bar__plus_01_dot_84_bar__plus_01_dot_00_bar__plus_02_dot_36 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Fork_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation SoapBottle_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_05 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Ladle_bar__minus_00_dot_04_bar__plus_00_dot_13_bar__plus_02_dot_20 loc_bar_4_bar_7_bar_3_bar_60) + (objectAtLocation Ladle_bar__plus_02_dot_00_bar__plus_00_dot_13_bar__plus_01_dot_92 loc_bar_3_bar_6_bar_1_bar_45) + (objectAtLocation Bread_bar__plus_02_dot_13_bar__plus_01_dot_57_bar__minus_00_dot_19 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation SaltShaker_bar__minus_00_dot_27_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Potato_bar__plus_01_dot_84_bar__plus_00_dot_98_bar__plus_00_dot_73 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_86_bar__plus_00_dot_94_bar__plus_01_dot_11 loc_bar_5_bar_4_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_00_dot_36_bar__plus_01_dot_52_bar__minus_01_dot_03 loc_bar_1_bar__minus_2_bar_2_bar_15) + (objectAtLocation WineBottle_bar__plus_02_dot_23_bar__plus_00_dot_94_bar__plus_00_dot_36 loc_bar_5_bar_2_bar_1_bar_45) + (objectAtLocation Spatula_bar__plus_01_dot_67_bar__plus_00_dot_95_bar__plus_02_dot_51 loc_bar_5_bar_7_bar_0_bar_30) + (objectAtLocation Knife_bar__minus_00_dot_03_bar__plus_00_dot_77_bar__plus_02_dot_20 loc_bar_3_bar_8_bar_3_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_20_bar__plus_00_dot_84_bar__plus_01_dot_39 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Apple_bar__plus_02_dot_14_bar__plus_00_dot_91_bar__minus_00_dot_46 loc_bar_5_bar__minus_1_bar_1_bar_60) + (objectAtLocation ButterKnife_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Pot_bar__plus_02_dot_14_bar__plus_00_dot_94_bar__plus_01_dot_50 loc_bar_5_bar_6_bar_1_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_43_bar__plus_00_dot_79_bar__plus_01_dot_22 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Cup_bar__minus_00_dot_12_bar__plus_00_dot_79_bar__plus_00_dot_88 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation DishSponge_bar__plus_01_dot_17_bar__plus_00_dot_79_bar__plus_02_dot_53 loc_bar_4_bar_8_bar_0_bar_60) + (objectAtLocation Plate_bar__plus_01_dot_30_bar__plus_00_dot_09_bar__plus_02_dot_52 loc_bar_3_bar_6_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_00_dot_21_bar__plus_00_dot_00_bar__plus_00_dot_11 loc_bar_1_bar_0_bar_3_bar_60) + (objectAtLocation Spoon_bar__minus_00_dot_04_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Mug_bar__minus_00_dot_35_bar__plus_00_dot_79_bar__plus_00_dot_71 loc_bar_2_bar_3_bar_3_bar_60) + (objectAtLocation Bowl_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_02_dot_69 loc_bar_5_bar_7_bar_0_bar_30) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o PotatoType) + (receptacleType ?r FridgeType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..406d94abf9652ae4303e951bfcab7f7a8e3e5916 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Potato-None-Fridge-27/trial_T20190908_143748_027076/traj_data.json @@ -0,0 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", + "Pick up the potato in front of the toaster on the counter. ", + "Walk to the sink and turn left, walk to the microwave. ", + "Open the microwave door, put the potato inside the microwave, close the door, heat the potato, open the door, take the potato out, close the door. ", + "Turn left and walk to the fridge. ", + "Place the potato inside of the fridge and close the door. " + ], + "task_desc": "To heat a potato and put it in the fridge. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3WR9XG3T662SLRWVOD3FBVHRXHG47D", + "high_descs": [ + "Turn around and go to the counter with the toaster on it.", + "Pick up the potato near the toaster.", + "Turn around and head to the microwave.", + "Put the potato in the microwave, cook it and then take it out.", + "Turn left, go across the room and then turn left to the fridge.", + "Put the potato on the second shelf in the fridge." + ], + "task_desc": "Put a cooked potato in the fridge.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1NWXL4QO30M8U_3Z4AIRP3C9458753J8OB7WNCNQL1XS", + "high_descs": [ + "Turn to the left and take two steps, then turn to the left and walk across the room.", + "Pick up the potato from the counter. ", + "Turn to the left and walk to the sink, then turn to the right and walk to the microwave.", + "Open the microwave and put the potato inside, then turn the microwave on for three seconds, then take the potato out of the microwave.", + "Turn to the left and walk across the room, then turn to the left and walk to the fridge.", + "Open the fridge and put the potato inside. " + ], + "task_desc": "To cook the potato.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..5017b476ab72f7851311c41cd70c1c5d126f0d86 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/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 tomato in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_140821_716243)\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_21_bar__plus_01_dot_36_bar__plus_00_dot_81 - object\n Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76 - object\n Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 - object\n Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 - object\n DishSponge_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_68 - object\n DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_00_dot_98 - object\n Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 - object\n Kettle_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Knife_bar__minus_01_dot_42_bar__plus_01_dot_35_bar__minus_01_dot_50 - object\n Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 - object\n Knife_bar__minus_02_dot_00_bar__plus_01_dot_37_bar__minus_01_dot_19 - object\n Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object\n Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_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_93_bar__plus_02_dot_02_bar__plus_02_dot_05 - object\n Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63 - object\n Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 - object\n Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 - object\n PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 - object\n PepperShaker_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object\n PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_85 - object\n PepperShaker_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 - object\n Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object\n Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42 - object\n Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68 - object\n SaltShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 - object\n SaltShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_36 - 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_52_bar__plus_01_dot_32_bar__minus_02_dot_87 - object\n SoapBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 - object\n SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 - object\n Spatula_bar__plus_01_dot_16_bar__plus_01_dot_34_bar__minus_00_dot_94 - object\n Spatula_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_98 - object\n Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 - object\n Spoon_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05 - object\n Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_36 - 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_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24 - object\n Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11 - object\n Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28 - object\n Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object\n WineBottle_bar__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37 - 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__minus_15 - location\n loc_bar_0_bar_8_bar_1_bar_60 - location\n loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location\n loc_bar_0_bar__minus_4_bar_1_bar_60 - location\n loc_bar_0_bar__minus_6_bar_1_bar_30 - location\n loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location\n loc_bar__minus_4_bar_5_bar_3_bar_30 - location\n loc_bar_0_bar_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 BowlType)\n (objectType Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42 PotatoType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType PepperShaker_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_86 PepperShakerType)\n (objectType Knife_bar__minus_02_dot_00_bar__plus_01_dot_37_bar__minus_01_dot_19 KnifeType)\n (objectType Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 MugType)\n (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType)\n (objectType Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 PanType)\n (objectType PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_85 PepperShakerType)\n (objectType Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 BreadType)\n (objectType Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 PlateType)\n (objectType Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 LettuceType)\n (objectType Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_36 SpoonType)\n (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType)\n (objectType Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 WindowType)\n (objectType SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 SoapBottleType)\n (objectType Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24 TomatoType)\n (objectType StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_05 MugType)\n (objectType StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11 TomatoType)\n (objectType PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 PaperTowelRollType)\n (objectType Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28 TomatoType)\n (objectType Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 PanType)\n (objectType SoapBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 SoapBottleType)\n (objectType Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 CupType)\n (objectType Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 BowlType)\n (objectType StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 SpatulaType)\n (objectType Spatula_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_98 SpatulaType)\n (objectType Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 PlateType)\n (objectType Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81 AppleType)\n (objectType WineBottle_bar__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37 WineBottleType)\n (objectType HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 HousePlantType)\n (objectType 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LettuceType)\n (canContain SideTableType PotatoType)\n (canContain SideTableType CupType)\n (canContain SideTableType PlateType)\n (canContain SideTableType PepperShakerType)\n (canContain SideTableType TomatoType)\n (canContain SideTableType KnifeType)\n (canContain SideTableType AppleType)\n (canContain SideTableType PanType)\n (canContain SideTableType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain GarbageCanType BreadType)\n (canContain GarbageCanType DishSpongeType)\n (canContain GarbageCanType WineBottleType)\n (canContain GarbageCanType EggType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType LettuceType)\n (canContain GarbageCanType PotatoType)\n (canContain GarbageCanType TomatoType)\n (canContain GarbageCanType AppleType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain MicrowaveType MugType)\n (canContain MicrowaveType PotatoType)\n (canContain MicrowaveType EggType)\n (canContain MicrowaveType AppleType)\n (canContain MicrowaveType TomatoType)\n (canContain MicrowaveType BreadType)\n (canContain MicrowaveType CupType)\n (canContain MicrowaveType PlateType)\n (canContain MicrowaveType BowlType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain 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 LettuceType)\n (canContain FridgeType PotatoType)\n (canContain 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DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CabinetType SaltShakerType)\n (canContain CabinetType DishSpongeType)\n (canContain CabinetType BowlType)\n (canContain CabinetType KettleType)\n (canContain CabinetType PotType)\n (canContain CabinetType WineBottleType)\n (canContain CabinetType MugType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType CupType)\n (canContain CabinetType PlateType)\n (canContain CabinetType PepperShakerType)\n (canContain CabinetType PanType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain DrawerType SaltShakerType)\n (canContain DrawerType DishSpongeType)\n (canContain DrawerType ForkType)\n (canContain DrawerType SpoonType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType PepperShakerType)\n (canContain DrawerType KnifeType)\n (canContain DrawerType SpatulaType)\n (canContain CoffeeMachineType MugType)\n (canContain StoveBurnerType KettleType)\n (canContain StoveBurnerType PotType)\n (canContain StoveBurnerType PanType)\n (canContain CounterTopType SaltShakerType)\n (canContain CounterTopType BreadType)\n (canContain CounterTopType DishSpongeType)\n (canContain CounterTopType BowlType)\n (canContain CounterTopType KettleType)\n (canContain CounterTopType PotType)\n (canContain CounterTopType WineBottleType)\n (canContain CounterTopType MugType)\n (canContain CounterTopType EggType)\n (canContain CounterTopType ForkType)\n (canContain CounterTopType SpoonType)\n (canContain CounterTopType 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Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28)\n (cleanable Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77)\n (cleanable Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24)\n (cleanable Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51)\n (cleanable Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72)\n (cleanable Spatula_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_98)\n (cleanable Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24)\n (cleanable Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81)\n (cleanable Kettle_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (cleanable Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25)\n (cleanable Spoon_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05)\n (cleanable Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07)\n (cleanable Fork_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_00_dot_98)\n (cleanable Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22)\n (cleanable Spatula_bar__plus_01_dot_16_bar__plus_01_dot_34_bar__minus_00_dot_94)\n (cleanable DishSponge_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_68)\n (cleanable Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63)\n (cleanable Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74)\n (cleanable Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68)\n (cleanable DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_06)\n (cleanable Knife_bar__minus_01_dot_42_bar__plus_01_dot_35_bar__minus_01_dot_50)\n (cleanable Kettle_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85)\n (cleanable Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76)\n (cleanable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54)\n \n (heatable Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42)\n (heatable Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86)\n (heatable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (heatable Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09)\n (heatable Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24)\n (heatable Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_05)\n (heatable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11)\n (heatable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28)\n (heatable Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24)\n (heatable Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24)\n (heatable Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81)\n (heatable Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25)\n (heatable Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63)\n (heatable Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76)\n (heatable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54)\n (coolable Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06)\n (coolable Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42)\n (coolable Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86)\n (coolable Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97)\n (coolable Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20)\n (coolable Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66)\n (coolable Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09)\n (coolable Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07)\n (coolable Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24)\n (coolable Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_05)\n (coolable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11)\n (coolable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28)\n (coolable Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77)\n (coolable Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24)\n (coolable Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51)\n (coolable Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24)\n (coolable Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81)\n (coolable WineBottle_bar__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37)\n (coolable Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25)\n (coolable Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07)\n (coolable Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63)\n (coolable Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68)\n (coolable Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76)\n (coolable Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54)\n \n \n \n \n \n (sliceable Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42)\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 Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24)\n (sliceable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11)\n (sliceable Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28)\n (sliceable Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81)\n (sliceable Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25)\n (sliceable Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07)\n (sliceable Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76)\n \n (inReceptacle PepperShaker_bar__minus_01_dot_85_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 SaltShaker_bar__minus_01_dot_54_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 Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle SaltShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_36 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_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle Spoon_bar__plus_00_dot_81_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 Fork_bar__plus_00_dot_94_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 Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle PepperShaker_bar__plus_01_dot_05_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 Kettle_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle WineBottle_bar__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle PepperShaker_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 Pan_bar__minus_02_dot_05_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 SoapBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__plus_01_dot_16_bar__plus_01_dot_34_bar__minus_00_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_42_bar__plus_01_dot_35_bar__minus_01_dot_50 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_02_dot_87 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle 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 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 Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_42_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 Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\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 Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_36 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Cup_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 Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Tomato_bar__plus_01_dot_19_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 Kettle_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_21_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 Tomato_bar__minus_01_dot_63_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 Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_93_bar__plus_02_dot_02_bar__plus_02_dot_05 loc_bar_0_bar_8_bar_1_bar__minus_15)\n (objectAtLocation Apple_bar__plus_01_dot_21_bar__plus_01_dot_36_bar__plus_00_dot_81 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_36 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Spatula_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_3_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 SaltShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Kettle_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 Cup_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 Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Knife_bar__minus_01_dot_42_bar__plus_01_dot_35_bar__minus_01_dot_50 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_01_dot_16_bar__plus_01_dot_34_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 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__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Knife_bar__minus_02_dot_00_bar__plus_01_dot_37_bar__minus_01_dot_19 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_00_dot_98 loc_bar_0_bar_3_bar_1_bar_45)\n (objectAtLocation Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Kettle_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_39_bar__plus_01_dot_57_bar__minus_00_dot_66 loc_bar_3_bar__minus_1_bar_1_bar_30)\n (objectAtLocation Pan_bar__minus_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_67_bar__plus_00_dot_34_bar__minus_02_dot_36 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_dot_07 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__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_63_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_66_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_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 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_75_bar__plus_00_dot_34_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_1_bar_45)\n (objectAtLocation Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take tomato 1 from sidetable 1", "go to microwave 1", "heat tomato 1 with microwave 1", "go to sidetable 1", "move tomato 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-Tomato-None-SideTable-3/trial_T20190907_140821_716243/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ec01e8f89a9403ca4fbdccafc84926df14bb1088 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/initial_state.pddl @@ -0,0 +1,923 @@ + +(define (problem plan_trial_T20190907_140821_716243) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_21_bar__plus_01_dot_36_bar__plus_00_dot_81 - object + Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76 - object + Bowl_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Bowl_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_94_bar__plus_01_dot_21_bar__plus_01_dot_24 - object + Cup_bar__minus_01_dot_95_bar__plus_01_dot_05_bar__minus_00_dot_54 - object + DishSponge_bar__plus_00_dot_42_bar__plus_01_dot_32_bar__minus_02_dot_68 - object + DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Egg_bar__plus_01_dot_28_bar__plus_01_dot_25_bar__plus_01_dot_25 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_94_bar__plus_00_dot_95_bar__plus_00_dot_98 - object + Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_22 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__plus_00_dot_90_bar__plus_00_dot_35_bar__minus_01_dot_85 - object + Kettle_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Knife_bar__minus_01_dot_42_bar__plus_01_dot_35_bar__minus_01_dot_50 - object + Knife_bar__minus_01_dot_79_bar__plus_01_dot_35_bar__plus_01_dot_74 - object + Knife_bar__minus_02_dot_00_bar__plus_01_dot_37_bar__minus_01_dot_19 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 - object + Lettuce_bar__minus_02_dot_05_bar__plus_01_dot_40_bar__plus_02_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_93_bar__plus_02_dot_02_bar__plus_02_dot_05 - object + Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63 - object + Mug_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pan_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_03_dot_20 - object + Pan_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_77 - object + PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 - object + PepperShaker_bar__plus_01_dot_03_bar__plus_01_dot_32_bar__minus_02_dot_42 - object + PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_01_dot_85 - object + PepperShaker_bar__minus_01_dot_85_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Plate_bar__minus_01_dot_47_bar__plus_01_dot_31_bar__plus_00_dot_24 - object + Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 - object + Potato_bar__minus_02_dot_18_bar__plus_01_dot_36_bar__plus_01_dot_42 - object + Pot_bar__minus_01_dot_92_bar__plus_01_dot_33_bar__minus_01_dot_68 - object + SaltShaker_bar__minus_01_dot_54_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + SaltShaker_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_36 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_02_dot_87 - object + SoapBottle_bar__minus_01_dot_53_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + SoapBottle_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_26 - object + Spatula_bar__plus_01_dot_16_bar__plus_01_dot_34_bar__minus_00_dot_94 - object + Spatula_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_00_dot_98 - object + Spatula_bar__minus_02_dot_18_bar__plus_01_dot_34_bar__minus_02_dot_72 - object + Spoon_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05 - object + Spoon_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_36 - 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_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_24 - object + Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_11 - object + Tomato_bar__minus_01_dot_63_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__plus_00_dot_67_bar__plus_00_dot_35_bar__minus_02_dot_37 - 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 + 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loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar__minus_15 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_0_bar_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType 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DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType) + (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType) + (objectType 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loc_bar__minus_4_bar_5_bar_3_bar_30) + (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) + (objectAtLocation PaperTowelRoll_bar__plus_00_dot_78_bar__plus_01_dot_31_bar__plus_01_dot_25 loc_bar_1_bar_4_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_28 loc_bar__minus_4_bar_5_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_09 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation PepperShaker_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) + (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) + (objectAtLocation DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_81_bar__plus_00_dot_95_bar__plus_01_dot_05 loc_bar_0_bar_3_bar_1_bar_45) + (objectAtLocation Apple_bar__minus_01_dot_38_bar__plus_01_dot_37_bar__minus_02_dot_76 loc_bar__minus_4_bar_5_bar_3_bar_30) + (objectAtLocation Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_63 loc_bar__minus_4_bar__minus_3_bar_3_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o - object) + (and + (heatable ?o) + (objectType ?o TomatoType) + (receptacleType ?r SideTableType) + (isHot ?o) + (inReceptacle ?o ?r) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/traj_data.json b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140821_716243/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..54db1eaae407591c9dde5a2d58b45e6de23ba502 --- 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"objectName": "PepperShaker_c15f34b3", + "position": { + "x": -1.85165894, + "y": 0.338814139, + "z": -1.86363292 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_a15664d1", + "position": { + "x": 0.420673847, + "y": 1.32256436, + "z": -2.67849255 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_e0793d4c", + "position": { + "x": -1.60347974, + "y": 0.4237007, + "z": -0.3644116 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_e84ad935", + "position": { + "x": 1.21390188, + "y": 1.3592943, + "z": 0.8104657 + }, + "rotation": { + "x": 0.0, + "y": 270.000183, + "z": 0.0 + } + }, + { + "objectName": "Mug_259b36f2", + "position": { + "x": 0.9286004, + "y": 2.0238204, + "z": 2.05290937 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3956535463, + "scene_num": 3 + }, + "task_id": "trial_T20190907_140821_716243", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "AM2KK02JXXW48_3GA6AFUKOR5WBVX550VRRHUD3MQ3HA", + "high_descs": [ + "Turn left and move to the black table.", + "Pick up the tomato on the black table. ", + "Bring the tomato to the microwave. ", + "Heat the tomato in the microwave. ", + "Bring the tomato out of the microwave and to the left.", + "Put the heated tomato on the black table, left of the microwave. " + ], + "task_desc": "Put a heated tomato on the black table, left of the microwave. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AD0NVUGLDYDYN_3LBXNTKX0UCFCNM0RDENLGLTR5E9XN", + "high_descs": [ + "turn right to the counter by the refrigerator", + "grab the tomato on the counter", + "walk to the right a little", + "open the microwave, put the tomato in the microwave, heat the tomato, take the tomato out", + "walk to the left a little ", + "put the tomato back on the counter" + ], + "task_desc": "heat the tomato with microwave, put it back on the counter", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_31QNSG6A5UALJ3XZ484BRLDU5EU78U", + "high_descs": [ + "Turn to the right and face the microwave.", + "Pick the tomato up from left of the microwave.", + "Move to the left to face the microwave.", + "Put the tomato in the microwave and then shut the door and then open the door, take the tomato out and shut the door.", + "Move to the left and face the left of the microwave.", + "Set the tomato down left of the microwave." + ], + "task_desc": "Put a warmed tomato down on the cart.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A320QA9HJFUOZO_3NL0RFNU0I48VHHHBZ37EE2B9C8K4G", + "high_descs": [ + "Turn right and walk up to the counter with the microwave on it", + "Pick up the tomato from the counter", + "Move right slightly then turn back left to face the microwave", + "Put the tomato in the microwave, cook it, and remove it", + "Move left slightly then turn right to face back toward the counter", + "Put the tomato on the counter just left of the microwave" + ], + "task_desc": "Put the cooked tomato on the counter", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_3WSELTNVR6JM0PNLE9RQS8B7KYCTAL", + "high_descs": [ + "Turn around to the counter behind.", + "Pick up the tomato from the left side of the counter.", + "Take the tomato and move a step to the right.", + "Open the microwave and place the tomato inside and turn it on. Remove the tomato when finished.", + "Take the tomato and move a step to the left.", + "Place the tomato back on the counter, towards the back behind the green cup." + ], + "task_desc": "Heat a tomato and place it on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_317HQ483IA93BU1ZT1XR07TY8HNNIW", + "high_descs": [ + "Turn right and face the counter with the microwave on it. ", + "Pick up the tomato that's in front of the egg. ", + "Move in front of the microwave to the right. ", + "Open the microwave door, place the tomato inside next to the apple, close the door, heat the tomato, open the microwave door, take the tomato out, and close the door. ", + "Move to the left of the microwave. ", + "Put the tomato on the counter and in front of the egg where it originally was. " + ], + "task_desc": "To heat up a tomato. ", + "votes": [ + 1, + 0, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140859_097831/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140859_097831/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..13da76779821ae1e35cd8a09f94d54af1a823a0d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140859_097831/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 tomato in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_140859_097831)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 - object\n Apple_bar__minus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_59 - object\n Apple_bar__minus_02_dot_18_bar__plus_01_dot_37_bar__minus_01_dot_94 - object\n Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 - object\n Bowl_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 - object\n Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object\n Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object\n Cup_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_86 - object\n Cup_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_01_dot_02 - object\n Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_86 - object\n DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 - object\n DishSponge_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 - object\n DishSponge_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 - object\n Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_01_dot_04 - object\n Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object\n Fork_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n Fork_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_98 - object\n Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_43 - object\n HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object\n Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object\n Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_23 - 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_98_bar__plus_01_dot_67_bar__plus_01_dot_78 - object\n Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_45 - object\n Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 - 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_28_bar__plus_01_dot_31_bar__plus_01_dot_24 - object\n PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 - object\n Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object\n Potato_bar__minus_01_dot_94_bar__plus_01_dot_36_bar__minus_00_dot_91 - object\n Potato_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_45 - object\n Potato_bar__minus_02_dot_09_bar__plus_01_dot_37_bar__minus_00_dot_98 - object\n Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object\n SaltShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_01_dot_75 - object\n SaltShaker_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_00_dot_94 - object\n SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 - object\n 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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__minus_7_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 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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 Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 SpatulaType)\n (objectType PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 PepperShakerType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType 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Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02)\n (inReceptacle Kettle_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 PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle DishSponge_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle Cup_bar__minus_01_dot_67_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 Bowl_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30)\n (inReceptacle DishSponge_bar__minus_01_dot_95_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 WineBottle_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 Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47)\n (inReceptacle DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_35_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle SaltShaker_bar__plus_00_dot_75_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 Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_23 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Apple_bar__minus_02_dot_18_bar__plus_01_dot_37_bar__minus_01_dot_94 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__plus_01_dot_16_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 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 Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_01_dot_04 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pan_bar__minus_01_dot_79_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 Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SoapBottle_bar__minus_01_dot_52_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 Fork_bar__plus_00_dot_64_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 Tomato_bar__minus_01_dot_45_bar__plus_01_dot_36_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle 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 Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_28_bar__plus_01_dot_31_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_22 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Tomato_bar__plus_01_dot_03_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 Mug_bar__plus_00_dot_98_bar__plus_01_dot_67_bar__plus_01_dot_78 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Cup_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_86 Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85)\n (inReceptacle Cup_bar__plus_01_dot_15_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 WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_28 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Apple_bar__minus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_59 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Potato_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_45 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n (inReceptacle Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_45 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Mug_bar__plus_00_dot_98_bar__plus_01_dot_67_bar__plus_01_dot_78 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation DishSponge_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_45_bar__plus_01_dot_36_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation WineBottle_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 SaltShaker_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_00_dot_94 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 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Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_22 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_35_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Cup_bar__plus_01_dot_15_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_65_bar__plus_00_dot_42_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation DishSponge_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 loc_bar__minus_4_bar__minus_3_bar_3_bar_0)\n (objectAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_4_bar_3_bar_30)\n (objectAtLocation Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_23 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_01_dot_01 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation Potato_bar__minus_02_dot_09_bar__plus_01_dot_37_bar__minus_00_dot_98 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_1_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_2_bar__minus_9_bar_2_bar_45)\n (objectAtLocation StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 loc_bar__minus_3_bar__minus_9_bar_2_bar_45)\n (objectAtLocation Fork_bar__plus_00_dot_64_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_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_86 loc_bar_1_bar_3_bar_1_bar_30)\n (objectAtLocation Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_01_dot_04 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_01_dot_79_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_88_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_28 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_07 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation 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_31_bar__plus_01_dot_34_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_28_bar__plus_01_dot_31_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_15 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 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_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_59 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take tomato 2 from sidetable 1", "go to microwave 1", "heat tomato 2 with microwave 1", "go to sidetable 1", "move tomato 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-Tomato-None-SideTable-3/trial_T20190907_140859_097831/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140859_097831/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cb39d4441edef86fb79581a0757b7ba5a335eba9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140859_097831/initial_state.pddl @@ -0,0 +1,932 @@ + +(define (problem plan_trial_T20190907_140859_097831) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_01_dot_92_bar__plus_01_dot_37_bar__plus_02_dot_07 - object + Apple_bar__minus_01_dot_95_bar__plus_01_dot_10_bar__minus_00_dot_59 - object + Apple_bar__minus_02_dot_18_bar__plus_01_dot_37_bar__minus_01_dot_94 - object + Bowl_bar__minus_01_dot_61_bar__plus_00_dot_34_bar__plus_01_dot_01 - object + Bowl_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + Bread_bar__minus_01_dot_51_bar__plus_01_dot_38_bar__plus_00_dot_66 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_00_dot_86 - object + Cup_bar__plus_01_dot_15_bar__plus_01_dot_31_bar__plus_01_dot_02 - object + Cup_bar__minus_01_dot_67_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + DishSponge_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_02_dot_37 - object + DishSponge_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_01_dot_76 - object + DishSponge_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_31 - object + Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_01_dot_04 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__plus_00_dot_64_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + Fork_bar__plus_00_dot_94_bar__plus_00_dot_46_bar__plus_00_dot_98 - object + Fork_bar__minus_01_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_43 - object + HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 - object + Kettle_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Kettle_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + Knife_bar__plus_00_dot_35_bar__plus_01_dot_35_bar__minus_03_dot_23 - 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_98_bar__plus_01_dot_67_bar__plus_01_dot_78 - object + Mug_bar__minus_01_dot_70_bar__plus_01_dot_05_bar__minus_00_dot_45 - object + Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + Pan_bar__minus_01_dot_88_bar__plus_00_dot_33_bar__minus_02_dot_04 - object + PaperTowelRoll_bar__plus_01_dot_28_bar__plus_01_dot_31_bar__plus_01_dot_24 - object + PepperShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_36 - object + Plate_bar__minus_01_dot_68_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Plate_bar__minus_01_dot_82_bar__plus_00_dot_34_bar__plus_01_dot_42 - object + Potato_bar__minus_01_dot_94_bar__plus_01_dot_36_bar__minus_00_dot_91 - object + Potato_bar__minus_01_dot_95_bar__plus_01_dot_09_bar__minus_00_dot_45 - object + Potato_bar__minus_02_dot_09_bar__plus_01_dot_37_bar__minus_00_dot_98 - object + Pot_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + SaltShaker_bar__plus_00_dot_75_bar__plus_00_dot_34_bar__minus_01_dot_75 - object + SaltShaker_bar__plus_01_dot_16_bar__plus_01_dot_32_bar__minus_00_dot_94 - object + SaltShaker_bar__minus_01_dot_88_bar__plus_00_dot_34_bar__plus_00_dot_51 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__plus_00_dot_75_bar__plus_00_dot_35_bar__minus_02_dot_06 - object + SoapBottle_bar__minus_01_dot_52_bar__plus_01_dot_32_bar__minus_02_dot_76 - object + SoapBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_21 - object + Spatula_bar__minus_01_dot_31_bar__plus_01_dot_34_bar__minus_03_dot_31 - object + Spoon_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_03_dot_34 - object + Spoon_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__plus_02_dot_07 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__plus_01_dot_03_bar__plus_01_dot_24_bar__plus_01_dot_24 - object + Tomato_bar__plus_01_dot_19_bar__plus_01_dot_24_bar__plus_01_dot_22 - object + Tomato_bar__minus_01_dot_45_bar__plus_01_dot_36_bar__minus_02_dot_98 - object + Tomato_bar__minus_01_dot_63_bar__plus_00_dot_31_bar__plus_02_dot_15 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_66_bar__plus_00_dot_28_bar__plus_02_dot_28 - object + WineBottle_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar__minus_4_bar__minus_7_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType) + (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType) + (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType) + (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType) + (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType) + (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType) + (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType) + (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType) + (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType) + (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType) + (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType) + (receptacleType 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microwave behind the right hand green cup then close the microwave and turn it on. Open the microwave and pick up the tomato then close the microwave", + "Take a step to the left", + "Place the tomato on the microwave stand near the left corner closest to you" + ], + "task_desc": "Place a cooked tomato on a microwave stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A35P2RX8HKZM96_3LYA37P8IT4SGG2QQEDUMS8HJSXKB6", + "high_descs": [ + "Turn around and walk to the microwave on the right.", + "Take a tomato next to the microwave.", + "Turn right then turn left and walk to the microwave.", + "Open the door, put the tomato inside, close the door, and turn the microwave on. Remove the tomato when it's done and close the door.", + "Turn left then turn right and walk to the microwave.", + "Place the tomato back on the counter next to the microwave." + ], + "task_desc": "Place a microwave tomato on the counter.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "AJQGWGESKQT4Y_3MHW492WW3U2FI0ZG7HA2HUSBQ4MVH", + "high_descs": [ + "Turn around and stand in front of the microwave.", + "Pick the tomato up from behind the other tomato.", + "Move to the right and stand in front of the microwave.", + "Put the tomato in the microwave, turn it on, and then take the tomato out and shut the door.", + "Move to the left and stand on the left side of the microwave.", + "Put the tomato down next to the other one." + ], + "task_desc": "Put a heated tomato on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140946_092791/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140946_092791/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..d8cb9be5747bcb04c31fb16701b2ab575cd66a6c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140946_092791/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: heat some tomato and put it in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190907_140946_092791)\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_61_bar__plus_00_dot_33_bar__plus_02_dot_28 - object\n Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 - object\n Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_45 - object\n 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WineBottle_bar__minus_01_dot_95_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 - 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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_3_bar_0_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 DrawerType)\n (receptacleType Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 ToasterType)\n (receptacleType SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 SideTableType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 GarbageCanType)\n (receptacleType StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 MicrowaveType)\n (receptacleType StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 StoveBurnerType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 DrawerType)\n (receptacleType Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 FridgeType)\n (receptacleType Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 DrawerType)\n (receptacleType Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 CabinetType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 DrawerType)\n (receptacleType CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 CoffeeMachineType)\n (receptacleType StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 StoveBurnerType)\n (receptacleType CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 DrawerType)\n (receptacleType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin SinkBasinType)\n (objectType SoapBottle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 SoapBottleType)\n (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType)\n (objectType SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_dot_12 SaltShakerType)\n (objectType Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_28 AppleType)\n (objectType Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_45 ForkType)\n (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType)\n (objectType Cup_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_36 CupType)\n (objectType Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 PanType)\n (objectType 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Cup_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_36 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle SaltShaker_bar__minus_01_dot_73_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)\n (inReceptacle SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00)\n (inReceptacle 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 WineBottle_bar__minus_01_dot_95_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__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_06 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_01_dot_96 Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05)\n (inReceptacle SoapBottle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle SaltShaker_bar__minus_01_dot_79_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 Fork_bar__minus_02_dot_05_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 Pan_bar__minus_01_dot_79_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 Plate_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 Bowl_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_87 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_02_dot_42 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle DishSponge_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_01 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Bread_bar__plus_00_dot_90_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 PepperShaker_bar__plus_00_dot_21_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 Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_46 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle 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_66_bar__plus_01_dot_32_bar__plus_01_dot_74 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Cup_bar__minus_02_dot_18_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 Spatula_bar__minus_01_dot_52_bar__plus_01_dot_34_bar__minus_02_dot_98 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Lettuce_bar__minus_01_dot_24_bar__plus_01_dot_40_bar__minus_03_dot_31 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_00_dot_33 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Spatula_bar__plus_00_dot_49_bar__plus_01_dot_34_bar__minus_03_dot_34 CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31)\n (inReceptacle Spoon_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_05 Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02)\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 SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle Spatula_bar__minus_01_dot_73_bar__plus_00_dot_44_bar__minus_00_dot_43 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_56 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43)\n (inReceptacle Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_35 Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22)\n (inReceptacle PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87)\n (inReceptacle Potato_bar__plus_01_dot_02_bar__plus_01_dot_80_bar__plus_02_dot_23 Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92)\n (inReceptacle Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_28 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19)\n (inReceptacle Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_45 Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 loc_bar_0_bar__minus_6_bar_1_bar_30)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 loc_bar_0_bar_6_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 loc_bar_0_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 loc_bar__minus_1_bar_0_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 loc_bar_0_bar_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 loc_bar_0_bar_8_bar_1_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 loc_bar_1_bar_3_bar_1_bar_30)\n (receptacleAtLocation SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 loc_bar_1_bar_4_bar_1_bar_45)\n (receptacleAtLocation Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_1_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 loc_bar__minus_3_bar__minus_9_bar_2_bar_30)\n (receptacleAtLocation Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 loc_bar__minus_4_bar__minus_9_bar_3_bar_30)\n (objectAtLocation Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_28 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_00_dot_98 loc_bar__minus_1_bar_2_bar_1_bar_60)\n (objectAtLocation PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_79 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_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 Spatula_bar__minus_01_dot_52_bar__plus_01_dot_34_bar__minus_02_dot_98 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_05 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_56 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Cup_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_36 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_45 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 loc_bar__minus_4_bar_5_bar_0_bar_60)\n (objectAtLocation PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation SaltShaker_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 SoapBottle_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 Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_01_dot_96 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\n (objectAtLocation 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loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Bowl_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_87 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Potato_bar__plus_01_dot_02_bar__plus_01_dot_80_bar__plus_02_dot_23 loc_bar_0_bar_8_bar_1_bar_60)\n (objectAtLocation SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 loc_bar__minus_2_bar__minus_6_bar_3_bar_45)\n (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_60_bar__plus_00_dot_42_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Kettle_bar__minus_01_dot_69_bar__plus_01_dot_31_bar__minus_03_dot_16 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_00_dot_33 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_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 loc_bar__minus_2_bar_7_bar_3_bar_45)\n (objectAtLocation SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_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_00_dot_11 loc_bar__minus_2_bar_0_bar_3_bar_45)\n (objectAtLocation Lettuce_bar__minus_01_dot_24_bar__plus_01_dot_40_bar__minus_03_dot_31 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation HousePlant_bar__minus_02_dot_03_bar__plus_01_dot_31_bar__minus_00_dot_03 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spatula_bar__plus_00_dot_49_bar__plus_01_dot_34_bar__minus_03_dot_34 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 loc_bar_1_bar_4_bar_1_bar_45)\n (objectAtLocation Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_74 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_06 loc_bar__minus_1_bar__minus_9_bar_1_bar_60)\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_35_bar__plus_01_dot_32_bar__minus_03_dot_01 loc_bar__minus_4_bar_5_bar_3_bar_30)\n (objectAtLocation Spoon_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_05 loc_bar_0_bar_6_bar_1_bar_60)\n (objectAtLocation Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_45 loc_bar__minus_4_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_42 loc_bar__minus_4_bar_5_bar_3_bar_30)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o - object)\n (and\n (heatable ?o)\n (objectType ?o TomatoType)\n (receptacleType ?r SideTableType)\n (isHot ?o)\n (inReceptacle ?o ?r)\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 1", "take tomato 1 from countertop 1", "go to microwave 1", "heat tomato 1 with microwave 1", "go to sidetable 1", "move tomato 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-Tomato-None-SideTable-3/trial_T20190907_140946_092791/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140946_092791/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..e09aaabb5ea02da197e2792ebb97545b5d644773 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-Tomato-None-SideTable-3/trial_T20190907_140946_092791/initial_state.pddl @@ -0,0 +1,887 @@ + +(define (problem plan_trial_T20190907_140946_092791) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_61_bar__plus_00_dot_33_bar__plus_02_dot_28 - object + Apple_bar__minus_01_dot_63_bar__plus_00_dot_33_bar__plus_02_dot_15 - object + Apple_bar__minus_01_dot_70_bar__plus_01_dot_10_bar__minus_00_dot_45 - object + Bowl_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_87 - object + Bread_bar__plus_00_dot_90_bar__plus_01_dot_40_bar__minus_02_dot_79 - object + Chair_bar__plus_00_dot_60_bar__plus_00_dot_95_bar__minus_01_dot_09 - object + Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_01_dot_96 - object + Cup_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_36 - object + Cup_bar__minus_02_dot_18_bar__plus_01_dot_32_bar__minus_01_dot_68 - object + DishSponge_bar__plus_00_dot_35_bar__plus_01_dot_32_bar__minus_03_dot_01 - object + Egg_bar__minus_01_dot_38_bar__plus_01_dot_36_bar__minus_00_dot_33 - object + Faucet_bar__minus_02_dot_06_bar__plus_01_dot_36_bar__minus_00_dot_73 - object + Fork_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_01_dot_35 - object + Fork_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__minus_02_dot_46 - object + Fork_bar__minus_02_dot_05_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_69_bar__plus_01_dot_31_bar__minus_03_dot_16 - object + Knife_bar__minus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_23 - object + Lettuce_bar__minus_01_dot_24_bar__plus_01_dot_40_bar__minus_03_dot_31 - object + Lettuce_bar__minus_01_dot_89_bar__plus_01_dot_40_bar__minus_01_dot_05 - 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_02_dot_42 - object + Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - object + Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 - object + Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 - object + PaperTowelRoll_bar__plus_01_dot_19_bar__plus_01_dot_31_bar__plus_01_dot_24 - object + PepperShaker_bar__plus_00_dot_21_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + PepperShaker_bar__plus_01_dot_05_bar__plus_00_dot_34_bar__minus_02_dot_06 - object + PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 - object + Plate_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79 - object + Plate_bar__minus_01_dot_66_bar__plus_01_dot_32_bar__plus_01_dot_74 - object + Potato_bar__plus_01_dot_02_bar__plus_01_dot_80_bar__plus_02_dot_23 - object + Pot_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - object + SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_02_dot_26 - object + SaltShaker_bar__minus_01_dot_73_bar__plus_00_dot_42_bar__minus_00_dot_56 - object + SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_dot_12 - object + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 - object + SoapBottle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 - object + SoapBottle_bar__minus_01_dot_60_bar__plus_00_dot_42_bar__minus_00_dot_43 - object + SoapBottle_bar__minus_01_dot_73_bar__plus_00_dot_34_bar__minus_01_dot_86 - object + Spatula_bar__plus_00_dot_49_bar__plus_01_dot_34_bar__minus_03_dot_34 - object + Spatula_bar__minus_01_dot_52_bar__plus_01_dot_34_bar__minus_02_dot_98 - object + Spatula_bar__minus_01_dot_73_bar__plus_00_dot_44_bar__minus_00_dot_43 - object + Spoon_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_05 - object + Spoon_bar__plus_00_dot_98_bar__plus_00_dot_46_bar__plus_00_dot_98 - object + StoveKnob_bar__minus_00_dot_19_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_34_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + StoveKnob_bar__minus_00_dot_71_bar__plus_01_dot_34_bar__minus_02_dot_74 - object + Tomato_bar__minus_01_dot_92_bar__plus_01_dot_36_bar__minus_01_dot_68 - object + Window_bar__minus_02_dot_57_bar__plus_01_dot_80_bar__minus_00_dot_82 - object + WineBottle_bar__minus_01_dot_95_bar__plus_00_dot_34_bar__plus_00_dot_11 - object + Cabinet_bar__plus_00_dot_58_bar__plus_00_dot_78_bar__minus_02_dot_05 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_00_dot_47 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__plus_01_dot_31 - receptacle + Cabinet_bar__minus_01_dot_46_bar__plus_00_dot_78_bar__minus_02_dot_00 - receptacle + CoffeeMachine_bar__plus_01_dot_13_bar__plus_01_dot_31_bar__minus_01_dot_43 - receptacle + CounterTop_bar__minus_01_dot_81_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_00_dot_85_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_71_bar__plus_01_dot_06_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_59_bar__plus_01_dot_02 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_00_dot_84_bar__plus_00_dot_68 - receptacle + Drawer_bar__plus_00_dot_72_bar__plus_01_dot_06_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_00_dot_43 - receptacle + Drawer_bar__minus_01_dot_61_bar__plus_00_dot_68_bar__minus_01_dot_22 - receptacle + Fridge_bar__plus_01_dot_01_bar__plus_00_dot_23_bar__plus_01_dot_92 - receptacle + GarbageCan_bar__minus_01_dot_63_bar__plus_00_dot_22_bar__plus_02_dot_19 - receptacle + Microwave_bar__plus_01_dot_16_bar__plus_01_dot_19_bar__plus_00_dot_85 - receptacle + SideTable_bar__plus_01_dot_02_bar__plus_01_dot_24_bar__plus_00_dot_87 - receptacle + Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98_bar_SinkBasin - receptacle + StoveBurner_bar__minus_00_dot_13_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + StoveBurner_bar__minus_00_dot_24_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_63_bar__plus_01_dot_33_bar__minus_03_dot_30 - receptacle + StoveBurner_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 - receptacle + Toaster_bar__minus_01_dot_89_bar__plus_01_dot_31_bar__minus_02_dot_51 - receptacle + loc_bar__minus_4_bar__minus_2_bar_3_bar_60 - location + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_60 - location + loc_bar__minus_1_bar_0_bar_1_bar_60 - location + loc_bar__minus_2_bar_7_bar_3_bar_45 - location + loc_bar_0_bar_3_bar_1_bar_45 - location + loc_bar__minus_2_bar__minus_6_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_0 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_4_bar__minus_9_bar_3_bar_30 - location + loc_bar_1_bar_3_bar_1_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_30 - location + loc_bar__minus_1_bar__minus_9_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_9_bar_2_bar_45 - location + loc_bar_1_bar_4_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_9_bar_2_bar_30 - location + loc_bar_3_bar__minus_1_bar_1_bar_30 - location + loc_bar_0_bar_6_bar_1_bar_60 - location + loc_bar__minus_4_bar_5_bar_0_bar_60 - location + loc_bar__minus_2_bar_0_bar_3_bar_45 - location + loc_bar__minus_4_bar__minus_4_bar_3_bar_30 - location + loc_bar__minus_1_bar_2_bar_1_bar_60 - location + loc_bar_0_bar_1_bar_1_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_60 - location + loc_bar__minus_1_bar__minus_9_bar_1_bar_60 - location + loc_bar_0_bar__minus_4_bar_1_bar_60 - location + loc_bar_0_bar__minus_6_bar_1_bar_30 - location + loc_bar__minus_4_bar__minus_3_bar_3_bar_45 - location + loc_bar__minus_4_bar_5_bar_3_bar_30 - location + loc_bar_3_bar_0_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 SoapBottle_bar__minus_01_dot_40_bar__plus_01_dot_32_bar__minus_02_dot_20 SoapBottleType) + (objectType StoveKnob_bar__minus_00_dot_57_bar__plus_01_dot_34_bar__minus_02_dot_74 StoveKnobType) + (objectType SaltShaker_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__plus_00_dot_12 SaltShakerType) + (objectType Apple_bar__minus_01_dot_61_bar__plus_00_dot_33_bar__plus_02_dot_28 AppleType) + (objectType Fork_bar__minus_02_dot_05_bar__plus_01_dot_32_bar__plus_00_dot_45 ForkType) + (objectType Pan_bar__minus_00_dot_75_bar__plus_01_dot_33_bar__minus_02_dot_97 PanType) + (objectType Cup_bar__minus_01_dot_79_bar__plus_00_dot_34_bar__minus_02_dot_36 CupType) + (objectType Pan_bar__minus_01_dot_79_bar__plus_01_dot_32_bar__minus_02_dot_98 PanType) + (objectType Plate_bar__plus_00_dot_49_bar__plus_01_dot_32_bar__minus_02_dot_79 PlateType) + (objectType Bowl_bar__minus_01_dot_24_bar__plus_01_dot_32_bar__minus_02_dot_87 BowlType) + (objectType Pan_bar__minus_01_dot_75_bar__plus_00_dot_34_bar__plus_01_dot_52 PanType) + (objectType Cup_bar__plus_00_dot_90_bar__plus_00_dot_34_bar__minus_01_dot_96 CupType) + (objectType Mug_bar__plus_00_dot_77_bar__plus_01_dot_32_bar__minus_02_dot_42 MugType) + (objectType Sink_bar__minus_01_dot_99_bar__plus_01_dot_14_bar__minus_00_dot_98 SinkType) + (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 Spoon_bar__plus_00_dot_81_bar__plus_00_dot_74_bar__plus_01_dot_05 SpoonType) + (objectType PepperShaker_bar__plus_01_dot_28_bar__plus_01_dot_20_bar__plus_01_dot_24 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", + "Go right and then turn and stand in front of the microwave on the black stand.", + "Put the tomato in the microwave, start the microwave, take the tomato out and shut the door.", + "Move to the left and stand in front of the counter to the left of the microwave.", + "Set the tomato down on the left edge of the counter top." + ], + "task_desc": "Put a heated tomato on the counter.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190906_224146_370373/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190906_224146_370373/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..201921041d3e6c5c2a1f9f7c860e5cb9ccfbc62c --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190906_224146_370373/initial_state.pddl @@ -0,0 +1,1009 @@ + +(define (problem plan_trial_T20190906_224146_370373) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_53_bar__plus_01_dot_58_bar__minus_00_dot_39 - object + Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_45 - object + Bowl_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_43 - object + Bowl_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_50 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 - object + ButterKnife_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99 - object + ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + DishSponge_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + DishSponge_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_40 - object + DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + Egg_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_04 - object + Egg_bar__minus_01_dot_07_bar__plus_00_dot_97_bar__minus_02_dot_12 - object + Egg_bar__minus_01_dot_25_bar__plus_01_dot_06_bar__minus_01_dot_74 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_45_bar__plus_00_dot_90_bar__minus_01_dot_89 - object + Fork_bar__minus_00_dot_36_bar__plus_00_dot_77_bar__minus_01_dot_98 - object + Knife_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_01_dot_22 - object + Ladle_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Lettuce_bar__minus_00_dot_21_bar__plus_00_dot_85_bar__minus_02_dot_03 - object + Lettuce_bar__minus_01_dot_57_bar__plus_01_dot_59_bar__minus_00_dot_60 - object + LightSwitch_bar__plus_00_dot_11_bar__plus_01_dot_32_bar__plus_02_dot_75 - object + Mug_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53 - object + Mug_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_68 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__plus_00_dot_07_bar__plus_00_dot_92_bar__plus_00_dot_08 - object + Plate_bar__plus_00_dot_48_bar__plus_00_dot_92_bar__plus_01_dot_08 - object + Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_01_dot_22 - object + Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25 - object + Potato_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__minus_00_dot_81 - object + Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 - object + SaltShaker_bar__minus_00_dot_24_bar__plus_02_dot_15_bar__minus_02_dot_12 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56 - object + Spatula_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Spoon_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Spoon_bar__minus_00_dot_23_bar__plus_00_dot_91_bar__minus_01_dot_73 - 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_46_bar__plus_00_dot_97_bar__minus_02_dot_09 - object + Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_21 - object + Tomato_bar__plus_01_dot_85_bar__plus_00_dot_97_bar__minus_01_dot_92 - 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_84_bar__plus_01_dot_66_bar__minus_01_dot_24 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar_4_bar_4_bar_3_bar_60 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar_9_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 ShelfType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 MicrowaveType) + (receptacleType Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType) + (objectType Egg_bar__minus_01_dot_25_bar__plus_01_dot_06_bar__minus_01_dot_74 EggType) + (objectType Egg_bar__minus_01_dot_07_bar__plus_00_dot_97_bar__minus_02_dot_12 EggType) + (objectType Fork_bar__plus_00_dot_45_bar__plus_00_dot_90_bar__minus_01_dot_89 ForkType) + (objectType Potato_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__minus_00_dot_81 PotatoType) + (objectType Plate_bar__plus_00_dot_48_bar__plus_00_dot_92_bar__plus_01_dot_08 PlateType) + (objectType ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 ButterKnifeType) + (objectType DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_56 DishSpongeType) + (objectType Knife_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_01_dot_22 KnifeType) + (objectType StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 StoveKnobType) + (objectType Mug_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_68 MugType) + (objectType 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Egg_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_04) + (sliceable Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25) + (sliceable Tomato_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22) + (sliceable Lettuce_bar__minus_01_dot_57_bar__plus_01_dot_59_bar__minus_00_dot_60) + (sliceable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (sliceable Apple_bar__minus_01_dot_53_bar__plus_01_dot_58_bar__minus_00_dot_39) + (sliceable Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_01_dot_22) + (sliceable Lettuce_bar__minus_00_dot_21_bar__plus_00_dot_85_bar__minus_02_dot_03) + (sliceable Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_21) + (sliceable Tomato_bar__plus_00_dot_46_bar__plus_00_dot_97_bar__minus_02_dot_09) + (sliceable Tomato_bar__plus_01_dot_85_bar__plus_00_dot_97_bar__minus_01_dot_92) + + (inReceptacle Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle SaltShaker_bar__minus_00_dot_24_bar__plus_02_dot_15_bar__minus_02_dot_12 Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__plus_01_dot_84_bar__plus_01_dot_66_bar__minus_01_dot_24 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle DishSponge_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_40 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Pan_bar__plus_01_dot_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 Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Tomato_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_bar__plus_00_dot_29_bar__plus_00_dot_92_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Pot_bar__minus_00_dot_12_bar__plus_00_dot_92_bar__plus_01_dot_50 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bowl_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_01_dot_45 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Plate_bar__plus_00_dot_48_bar__plus_00_dot_92_bar__plus_01_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Mug_bar__plus_00_dot_18_bar__plus_00_dot_92_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_00_dot_07_bar__plus_00_dot_92_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Knife_bar__minus_00_dot_16_bar__plus_00_dot_95_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Ladle_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spoon_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Cup_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Egg_bar__minus_01_dot_07_bar__plus_00_dot_97_bar__minus_02_dot_12 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Fork_bar__plus_00_dot_45_bar__plus_00_dot_90_bar__minus_01_dot_89 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__minus_00_dot_23_bar__plus_00_dot_91_bar__minus_01_dot_73 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__plus_01_dot_65_bar__plus_00_dot_97_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle DishSponge_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_80 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_56 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Potato_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_02_dot_25 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Mug_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__plus_00_dot_46_bar__plus_00_dot_97_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__plus_01_dot_85_bar__plus_00_dot_97_bar__minus_01_dot_92 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Egg_bar__plus_01_dot_92_bar__plus_00_dot_14_bar__plus_00_dot_04 GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13) + (inReceptacle Bowl_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_43 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Egg_bar__minus_01_dot_25_bar__plus_01_dot_06_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68) + (inReceptacle Bowl_bar__minus_01_dot_50_bar__plus_00_dot_86_bar__minus_00_dot_50 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Apple_bar__minus_01_dot_53_bar__plus_01_dot_58_bar__minus_00_dot_39 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Potato_bar__minus_01_dot_55_bar__plus_00_dot_89_bar__minus_00_dot_81 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Lettuce_bar__minus_01_dot_57_bar__plus_01_dot_59_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacleObject Spoon_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_00_dot_99 Plate_bar__plus_00_dot_48_bar__plus_00_dot_92_bar__plus_01_dot_08) + (inReceptacle ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle 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"objectName": "ButterKnife_8db17fc4", + "position": { + "x": 0.294566929, + "y": 0.9219616, + "z": 0.991366565 + }, + "rotation": { + "x": 359.462067, + "y": 0.00124678307, + "z": -0.005308067 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": -0.137785524, + "y": 0.764498234, + "z": -2.0264 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": -0.230146751, + "y": 0.91462934, + "z": -1.72573566 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.294560939, + "y": 0.927434862, + "z": 0.9912712 + }, + "rotation": { + "x": 359.856018, + "y": 0.0152011635, + "z": 359.889679 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": -0.356837839, + "y": 0.7650047, + "z": -1.98148525 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": -1.40334191e-14 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": 1.91566885, + "y": 0.140091121, + "z": 0.044836 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.07279778, + "y": 0.9670535, + "z": -2.1156342 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 1.850235, + "y": 0.965304, + "z": -1.91844535 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": -0.0470661819, + "y": 0.9824485, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 1.64783418, + "y": 0.965303957, + "z": -1.21257389 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": 1.77393329, + "y": 0.549664557, + "z": 2.431126 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": 0.180688992, + "y": 0.9272505, + "z": 1.44883978 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": -1.57226586, + "y": 1.5858413, + "z": -0.5994965 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 0.180688992, + "y": 0.9219325, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_792121da", + "position": { + "x": -1.53399253, + "y": 1.5756098, + "z": -0.392488927 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "Potato_4e602a34", + "position": { + "x": 1.850235, + "y": 0.942806, + "z": -2.25266457 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_980e4fc9", + "position": { + "x": -1.49556267, + "y": 0.8560561, + "z": -0.495991528 + }, + "rotation": { + "x": 0.0, + "y": 89.99983, + "z": 0.0 + } + }, + { + "objectName": "SoapBottle_11e2985b", + "position": { + "x": 1.73830819, + "y": 0.9121536, + "z": -1.56350493 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Fork_a1e5049a", + "position": { + "x": 0.454769254, + "y": 0.9017247, + "z": -1.88692629 + }, + "rotation": { + "x": 359.871277, + "y": -0.000657140452, + "z": 359.6796 + } + }, + { + "objectName": "Ladle_bd8f96dd", + "position": { + "x": 0.408444166, + "y": 0.975006938, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bread_b4d69cc9", + "position": { + "x": 0.39976868, + "y": 0.964504361, + "z": 0.111000285 + }, + "rotation": { + "x": 0.00263057486, + "y": 0.01000135, + "z": 1.60180485 + } + }, + { + "objectName": "Lettuce_aebda124", + "position": { + "x": -0.210802972, + "y": 0.845613, + "z": -2.0264 + }, + "rotation": { + "x": 1.40334191e-14, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "WineBottle_620f4eaa", + "position": { + "x": 1.838592, + "y": 1.65921533, + "z": -1.24065936 + }, + "rotation": { + "x": -7.062251e-30, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Spatula_33e0bb4d", + "position": { + "x": -0.0470661819, + "y": 0.9456444, + "z": 0.534036636 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plate_d1e14b30", + "position": { + "x": 0.483887762, + "y": 0.922933042, + "z": 1.07801318 + }, + "rotation": { + "x": 0.20594494, + "y": 0.389091283, + "z": 359.950562 + } + }, + { + "objectName": "SaltShaker_725f4a28", + "position": { + "x": -0.24263224, + "y": 2.147982, + "z": -2.12097645 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pot_d7116d9f", + "position": { + "x": -0.117, + "y": 0.921, + "z": 1.5 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cup_5f9ea4fe", + "position": { + "x": 0.180688992, + "y": 0.930863, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "PepperShaker_6ea32579", + "position": { + "x": 0.06681141, + "y": 0.9232387, + "z": 0.076635 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_bc4f8581", + "position": { + "x": 1.5675, + "y": 0.948799968, + "z": -0.7576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_8db17fc4", + "position": { + "x": 0.180688992, + "y": 0.9269746, + "z": 0.7627374 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Tomato_de47916c", + "position": { + "x": 0.457472026, + "y": 0.965304, + "z": -2.08555484 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_c9c37476", + "position": { + "x": 1.466886, + "y": 0.9130642, + "z": -1.79745913 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Egg_8bcb7893", + "position": { + "x": -1.252168, + "y": 1.05919611, + "z": -1.74239326 + }, + "rotation": { + "x": 0.0, + "y": 89.99989, + "z": 0.0 + } + }, + { + "objectName": "Spoon_a85d92ad", + "position": { + "x": 0.06681141, + "y": 0.9317739, + "z": 0.30533576 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Knife_416e93ae", + "position": { + "x": -0.160943776, + "y": 0.9500131, + "z": 1.220139 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_0e2bb95a", + "position": { + "x": 1.55736017, + "y": 0.908499956, + "z": -1.680482 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1512318986, + "scene_num": 20 + }, + "task_id": "trial_T20190906_224146_370373", + "task_type": "pick_heat_then_place_in_recep", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3C81THYYSBGVD_374TNBHA8ECA4RTWDBBBQPIR2FIYQH", + "high_descs": [ + "Turn left and walk to the sink.", + "Pick up the knife from the sink.", + "Turn left and then right to face the toaster.", + "Face and look at the toaster on the counter.", + "Turn left and face the cabinet in the lower right hand corner and open it.", + "Open the cabinet in the lower right hand corner.", + "Place the knife in the cabinet and close it.", + "Turn right and take some tomato from the counter.", + "Turn right and walk towards the microwave.", + "Open the microwave on the counter and heat it up, then take it out and close the microwave.", + "Turn right, then right again to face the green trash-can.", + "Throw the tomato in the trash." + ], + "task_desc": "Heat up a tomato to throw away.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3XM0HYN6NNGRYABQDXKSJH01FF0PER", + "high_descs": [ + "turn left, go forward to sink", + "pick up knife from sink on the left of lettuce", + "turn to the left", + "go to counter with toaster to the left of the sink, slice tomato", + "turn left, go to cabinet to the right of stove", + "open cabinet, place knife in front left corner of cabinet, close cabinet", + "go to right to counter with toaster", + "pick up tomato slice next to toaster", + "turn right, go to microwave", + "place tomato slice in microwave, turn on microwave, remove tomato slice from microwave", + "turn around, go to green can to left of stove", + "place tomato slice in green can" + ], + "task_desc": "place microwaved tomato slice in green can", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A23HZ18KTCK2DA_3YHH42UU5EW2GZHYDYS6HBPDGXT0L8", + "high_descs": [ + "Turn left and go towards the sink. At the table go left then right to get to the sink.", + "Go in front of the sink.", + "Turn left and go to the toaster.", + "Turn and face the toaster on the counter.", + "Turn right. Open the cabinet that is to the right of the stove under the counter.", + "Shut the door to the cabinet.", + "Turn to the right. Face the toaster that is on the counter.", + "Pick up a slice of tomato that is on the counter.", + "Turn to the right. Move to the microwave.", + "Open the microwave. Put the tomato slice in the microwave and shut the door. Turn on the microwave. Open the door when it is done and take the tomato slice out.", + "Turn to the right and then turn to the right again. Move towards the stove. At the stove turn left and then right. ", + "Put the tomato slice in the green trash can that is on the left of the stove." + ], + "task_desc": "Warm up a tomato slice to throw it away.", + "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-TomatoSliced-None-GarbageCan-20/trial_T20190906_224230_075413/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190906_224230_075413/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..ab4ed293fb2e37e71784aee1b8ad8906f9c3f3f7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190906_224230_075413/initial_state.pddl @@ -0,0 +1,1037 @@ + +(define (problem plan_trial_T20190906_224230_075413) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53 - object + Apple_bar__minus_01_dot_61_bar__plus_01_dot_58_bar__minus_00_dot_39 - object + Bowl_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_91 - object + Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 - object + ButterKnife_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_21 - object + ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 - object + ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_13 - object + Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 - object + Cup_bar__minus_00_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_46 - object + Cup_bar__minus_01_dot_38_bar__plus_01_dot_18_bar__minus_00_dot_60 - object + DishSponge_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08 - object + Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Egg_bar__plus_01_dot_83_bar__plus_00_dot_97_bar__minus_01_dot_68 - object + Egg_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_07 - object + Faucet_bar__minus_00_dot_14_bar__plus_01_dot_03_bar__minus_02_dot_22 - object + Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99 - object + Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Fork_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_00 - object + Knife_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_99 - object + Ladle_bar__minus_00_dot_66_bar__plus_00_dot_16_bar__minus_01_dot_87 - object + Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_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_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_12 - object + Mug_bar__minus_01_dot_38_bar__plus_00_dot_85_bar__minus_01_dot_01 - object + Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + Pan_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 - object + PepperShaker_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_22 - object + PepperShaker_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10 - object + Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + Plate_bar__plus_01_dot_36_bar__plus_00_dot_56_bar__plus_02_dot_48 - object + Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 - object + Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_99 - object + Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 - object + Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + SaltShaker_bar__plus_00_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + SaltShaker_bar__plus_01_dot_26_bar__plus_00_dot_88_bar__plus_02_dot_43 - object + SaltShaker_bar__plus_01_dot_95_bar__plus_01_dot_65_bar__minus_01_dot_67 - object + 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Plate_bar__plus_01_dot_36_bar__plus_00_dot_56_bar__plus_02_dot_48) + (coolable Mug_bar__minus_01_dot_38_bar__plus_00_dot_85_bar__minus_01_dot_01) + (coolable Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53) + (coolable Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36) + (coolable Mug_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_12) + (coolable Egg_bar__plus_01_dot_83_bar__plus_00_dot_97_bar__minus_01_dot_68) + (coolable Bowl_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_91) + (coolable Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76) + (coolable Apple_bar__minus_01_dot_61_bar__plus_01_dot_58_bar__minus_00_dot_39) + (coolable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (coolable Pan_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27) + (coolable Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76) + (coolable Cup_bar__minus_01_dot_38_bar__plus_01_dot_18_bar__minus_00_dot_60) + (coolable Tomato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__minus_02_dot_26) + (coolable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (coolable Tomato_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_91) + (coolable Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20) + (coolable Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_99) + (coolable Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_91) + (coolable WineBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76) + (coolable WineBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76) + (coolable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (coolable Tomato_bar__minus_00_dot_21_bar__plus_00_dot_82_bar__minus_01_dot_94) + (coolable Egg_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_07) + (coolable Cup_bar__minus_00_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_46) + (coolable WineBottle_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_00_dot_31) + (coolable Plate_bar__plus_01_dot_36_bar__plus_00_dot_56_bar__plus_02_dot_48) + + (isCool Tomato_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_91) + + + + (sliceable Egg_bar__plus_01_dot_83_bar__plus_00_dot_97_bar__minus_01_dot_68) + (sliceable Apple_bar__minus_01_dot_61_bar__plus_01_dot_58_bar__minus_00_dot_39) + (sliceable Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09) + (sliceable Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76) + (sliceable Tomato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__minus_02_dot_26) + (sliceable Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53) + (sliceable Tomato_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_91) + (sliceable Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_99) + (sliceable Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_91) + (sliceable Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11) + (sliceable Tomato_bar__minus_00_dot_21_bar__plus_00_dot_82_bar__minus_01_dot_94) + (sliceable Egg_bar__minus_00_dot_06_bar__plus_00_dot_82_bar__minus_02_dot_07) + + (inReceptacle Pot_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76) + (inReceptacle Mug_bar__plus_01_dot_47_bar__plus_01_dot_65_bar__minus_02_dot_12 Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_01_dot_95_bar__plus_01_dot_65_bar__minus_01_dot_67 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40) + (inReceptacle Plate_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_20 Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03) + (inReceptacle Bowl_bar__plus_01_dot_26_bar__plus_00_dot_12_bar__minus_01_dot_91 Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Ladle_bar__minus_00_dot_66_bar__plus_00_dot_16_bar__minus_01_dot_87 Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69) + (inReceptacle Pan_bar__plus_01_dot_69_bar__plus_00_dot_12_bar__minus_01_dot_27 Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06) + (inReceptacle Cup_bar__minus_00_dot_98_bar__plus_00_dot_13_bar__minus_01_dot_46 Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67) + (inReceptacle Plate_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Apple_bar__minus_00_dot_16_bar__plus_01_dot_00_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Potato_bar__plus_00_dot_29_bar__plus_00_dot_96_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__minus_00_dot_05_bar__plus_00_dot_95_bar__plus_00_dot_53 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle DishSponge_bar__minus_00_dot_05_bar__plus_00_dot_93_bar__plus_00_dot_08 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Knife_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_99 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Spatula_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__minus_00_dot_16_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle WineBottle_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Bread_bar__plus_00_dot_40_bar__plus_00_dot_96_bar__plus_00_dot_11 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Egg_bar__plus_00_dot_41_bar__plus_00_dot_98_bar__plus_00_dot_76 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle SoapBottle_bar__plus_00_dot_29_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle Fork_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_31 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle PepperShaker_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_01_dot_22 DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68) + (inReceptacle ButterKnife_bar__minus_00_dot_72_bar__plus_00_dot_91_bar__minus_02_dot_13 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_00_dot_00_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Pan_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SoapBottle_bar__plus_01_dot_47_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Egg_bar__plus_01_dot_83_bar__plus_00_dot_97_bar__minus_01_dot_68 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Potato_bar__plus_00_dot_46_bar__plus_00_dot_94_bar__minus_02_dot_09 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__plus_00_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_83 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle PepperShaker_bar__plus_01_dot_83_bar__plus_00_dot_91_bar__minus_01_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Fork_bar__plus_01_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_00 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Spoon_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_10 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__plus_01_dot_74_bar__plus_00_dot_91_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Tomato_bar__minus_01_dot_04_bar__plus_00_dot_97_bar__minus_02_dot_26 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle SaltShaker_bar__plus_01_dot_26_bar__plus_00_dot_88_bar__plus_02_dot_43 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48) + (inReceptacle Plate_bar__plus_01_dot_36_bar__plus_00_dot_56_bar__plus_02_dot_48 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle SoapBottle_bar__plus_01_dot_67_bar__plus_00_dot_55_bar__plus_02_dot_38 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Mug_bar__minus_01_dot_38_bar__plus_00_dot_85_bar__minus_01_dot_01 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Tomato_bar__minus_01_dot_57_bar__plus_01_dot_56_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Lettuce_bar__minus_01_dot_55_bar__plus_01_dot_26_bar__minus_00_dot_91 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Apple_bar__minus_01_dot_61_bar__plus_01_dot_58_bar__minus_00_dot_39 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle Cup_bar__minus_01_dot_38_bar__plus_01_dot_18_bar__minus_00_dot_60 Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70) + (inReceptacle ButterKnife_bar__minus_00_dot_14_bar__plus_00_dot_76_bar__minus_02_dot_03 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Tomato_bar__minus_00_dot_21_bar__plus_00_dot_82_bar__minus_01_dot_94 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Egg_bar__minus_00_dot_06_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) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (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_47_bar__minus_01_dot_69 loc_bar_3_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_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 loc_bar_4_bar__minus_4_bar_1_bar__minus_30) + (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_46_bar__plus_02_dot_27_bar__minus_02_dot_00 loc_bar__minus_1_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_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_4_bar_2_bar__minus_15) + (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_83 loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30) + (receptacleAtLocation CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 loc_bar_4_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 loc_bar_3_bar__minus_5_bar_2_bar_45) + (receptacleAtLocation DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 loc_bar__minus_4_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 loc_bar__minus_1_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (receptacleAtLocation 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your knife", + "Put the knife back in the sink", + "Pick up the sliced tomato in the sink", + "Turn to your right and face the microwave", + "Place the tomato inside the microwave and cook it. Take it out when it's done", + "Turn around and face the trash bin to the left of the oven", + "Put the tomato inside the trash bin" + ], + "task_desc": "Throwing away a cooked tomato", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3XC1O3LBOV33W8EPB0GG1MRID31LT6", + "high_descs": [ + "Go to the sink to your left.", + "Pick up the knife from in the sink", + "Slice the tomato in the sink.", + "Place the knife in the sink to the right of the tomato.", + "Take a tomato slice from the sink.", + "Go to the microwave to your right.", + "Cook the tomato in the microwave.", + "Take the tomato slice to the trash bin behind you.", + "Put the cooked tomato slice in the trash bin." + ], + "task_desc": "Put a cooked tomato slice in the trash bin.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190914_074721_577209/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190914_074721_577209/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..554b2cbc15a9027dce6f937d79952bc8e2ea7638 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_heat_then_place_in_recep-TomatoSliced-None-GarbageCan-20/trial_T20190914_074721_577209/initial_state.pddl @@ -0,0 +1,1042 @@ + +(define (problem plan_trial_T20190914_074721_577209) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_74_bar__plus_00_dot_98_bar__minus_01_dot_56 - object + Apple_bar__minus_00_dot_28_bar__plus_00_dot_84_bar__minus_01_dot_98 - object + Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_79 - object + Bowl_bar__plus_01_dot_59_bar__plus_01_dot_66_bar__minus_02_dot_16 - object + Bowl_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40 - object + 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Mug_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_53 - object + Pan_bar__plus_01_dot_85_bar__plus_00_dot_95_bar__minus_00_dot_36 - object + PepperShaker_bar__minus_01_dot_04_bar__plus_00_dot_91_bar__minus_02_dot_15 - object + Plate_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92 - object + Plate_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50 - object + Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_70 - object + Pot_bar__plus_01_dot_57_bar__plus_00_dot_95_bar__minus_00_dot_76 - object + SaltShaker_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_51 - object + SaltShaker_bar__minus_01_dot_34_bar__plus_02_dot_14_bar__minus_01_dot_06 - object + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01 - object + SoapBottle_bar__plus_00_dot_18_bar__plus_00_dot_93_bar__plus_00_dot_53 - object + SoapBottle_bar__plus_00_dot_41_bar__plus_00_dot_93_bar__plus_00_dot_31 - object + SoapBottle_bar__minus_01_dot_36_bar__plus_01_dot_66_bar__minus_01_dot_73 - object + Spatula_bar__plus_00_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_53 - object + Spatula_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_08 - object + Spatula_bar__plus_00_dot_41_bar__plus_00_dot_95_bar__plus_00_dot_08 - object + Spoon_bar__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_23 - 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_05_bar__plus_00_dot_98_bar__plus_00_dot_53 - object + Tomato_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_76 - object + Window_bar__plus_02_dot_11_bar__plus_01_dot_50_bar__plus_01_dot_07 - object + WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_80 - object + WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__plus_00_dot_16 - object + WineBottle_bar__plus_01_dot_91_bar__plus_01_dot_66_bar__minus_01_dot_74 - object + Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 - receptacle + Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 - receptacle + Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 - receptacle + Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 - receptacle + Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 - receptacle + Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 - receptacle + Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 - receptacle + CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 - receptacle + CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 - receptacle + Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 - receptacle + Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 - receptacle + GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 - receptacle + Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 - receptacle + Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 - receptacle + Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 - receptacle + StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 - receptacle + Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 - receptacle + loc_bar_4_bar__minus_5_bar_1_bar__minus_30 - location + loc_bar_3_bar__minus_3_bar_2_bar_45 - location + loc_bar_4_bar__minus_3_bar_1_bar_45 - location + loc_bar_1_bar_9_bar_0_bar_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_30 - location + loc_bar__minus_1_bar__minus_3_bar_2_bar_45 - location + loc_bar__minus_4_bar_3_bar_1_bar_45 - location + loc_bar__minus_4_bar_5_bar_1_bar_60 - location + loc_bar_6_bar_8_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar_6_bar_0_bar_60 - location + loc_bar__minus_1_bar__minus_5_bar_2_bar_45 - location + loc_bar_5_bar_1_bar_1_bar_60 - location + loc_bar_4_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar__minus_30 - location + loc_bar_6_bar_4_bar_1_bar_15 - location + loc_bar_4_bar__minus_2_bar_1_bar_30 - location + loc_bar_1_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_30 - location + loc_bar__minus_2_bar__minus_3_bar_3_bar_60 - location + loc_bar_0_bar__minus_4_bar_3_bar_60 - location + loc_bar_4_bar__minus_4_bar_1_bar__minus_30 - location + loc_bar_5_bar_5_bar_0_bar_45 - location + loc_bar_2_bar__minus_5_bar_1_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar__minus_15 - location + loc_bar_4_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar_60 - location + loc_bar_3_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_1_bar__minus_5_bar_3_bar__minus_15 - location + loc_bar_4_bar__minus_3_bar_1_bar_30 - location + loc_bar_4_bar__minus_1_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_45 - location + loc_bar__minus_3_bar__minus_2_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType Cabinet_bar__plus_01_dot_38_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_01_dot_10_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Fridge_bar__minus_01_dot_50_bar__plus_00_dot_00_bar__minus_00_dot_70 FridgeType) + (receptacleType Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin SinkBasinType) + (receptacleType CoffeeMachine_bar__plus_01_dot_37_bar__plus_00_dot_90_bar__minus_02_dot_11 CoffeeMachineType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_27_bar__minus_00_dot_83 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_16_bar__plus_02_dot_48 ShelfType) + (receptacleType DiningTable_bar__plus_00_dot_42_bar__plus_00_dot_01_bar__plus_00_dot_68 DiningTableType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_40 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_39_bar__plus_00_dot_47_bar__minus_01_dot_06 CabinetType) + (receptacleType StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 ToasterType) + (receptacleType Cabinet_bar__minus_00_dot_46_bar__plus_02_dot_27_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_84_bar__plus_00_dot_47_bar__minus_01_dot_67 CabinetType) + (receptacleType Cabinet_bar__plus_01_dot_75_bar__plus_02_dot_02_bar__minus_01_dot_03 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_23_bar__plus_00_dot_90_bar__minus_01_dot_68 MicrowaveType) + (receptacleType Cabinet_bar__plus_01_dot_18_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_15_bar__plus_02_dot_02_bar__minus_01_dot_98 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48 ShelfType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_47_bar__minus_01_dot_69 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_57_bar__plus_00_dot_94_bar__minus_00_dot_36 StoveBurnerType) + (receptacleType CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00 CounterTopType) + (receptacleType Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_82_bar__plus_00_dot_75_bar__minus_01_dot_69 DrawerType) + (objectType Ladle_bar__plus_00_dot_29_bar__plus_00_dot_97_bar__plus_01_dot_22 LadleType) + (objectType Egg_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_01_dot_22 EggType) + (objectType Lettuce_bar__plus_00_dot_29_bar__plus_01_dot_01_bar__plus_00_dot_53 LettuceType) + (objectType 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WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__plus_00_dot_16) + (coolable Plate_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50) + (coolable Potato_bar__minus_01_dot_61_bar__plus_01_dot_53_bar__minus_00_dot_70) + (coolable Bowl_bar__plus_01_dot_63_bar__plus_00_dot_12_bar__minus_01_dot_40) + (coolable Mug_bar__plus_00_dot_33_bar__plus_01_dot_65_bar__minus_02_dot_24) + (coolable Plate_bar__plus_00_dot_07_bar__plus_00_dot_93_bar__plus_00_dot_31) + (coolable Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_60) + (coolable WineBottle_bar__plus_01_dot_56_bar__plus_00_dot_91_bar__minus_01_dot_80) + (coolable Apple_bar__plus_01_dot_74_bar__plus_00_dot_98_bar__minus_01_dot_56) + (coolable Plate_bar__plus_01_dot_85_bar__plus_00_dot_92_bar__minus_01_dot_92) + (coolable Bread_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_99) + (coolable Cup_bar__minus_00_dot_21_bar__plus_00_dot_76_bar__minus_02_dot_12) + (coolable 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Spoon_bar__minus_00_dot_62_bar__plus_00_dot_91_bar__minus_02_dot_23 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle ButterKnife_bar__plus_01_dot_92_bar__plus_00_dot_91_bar__minus_01_dot_45 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle Egg_bar__plus_01_dot_74_bar__plus_00_dot_97_bar__minus_01_dot_21 CounterTop_bar__plus_00_dot_23_bar__plus_00_dot_95_bar__minus_02_dot_00) + (inReceptacle WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__plus_00_dot_16 GarbageCan_bar__plus_01_dot_87_bar__plus_00_dot_00_bar__plus_00_dot_13) + (inReceptacle SaltShaker_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_51 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_87_bar__plus_02_dot_48) + (inReceptacle Mug_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_53 Shelf_bar__plus_01_dot_55_bar__plus_00_dot_54_bar__plus_02_dot_48) + (inReceptacle Apple_bar__minus_01_dot_32_bar__plus_01_dot_09_bar__minus_01_dot_79 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Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + (inReceptacle Cup_bar__minus_00_dot_21_bar__plus_00_dot_76_bar__minus_02_dot_12 Sink_bar__minus_00_dot_11_bar__plus_00_dot_89_bar__minus_02_dot_01_bar_SinkBasin) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_20_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_1_bar__minus_5_bar_2_bar__minus_30) + (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_47_bar__minus_01_dot_69 loc_bar_3_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_5_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_72_bar__plus_02_dot_02_bar__minus_02_dot_00 loc_bar_4_bar__minus_5_bar_2_bar__minus_30) + (receptacleAtLocation 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loc_bar_4_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_85_bar__plus_00_dot_94_bar__minus_00_dot_76 loc_bar_4_bar__minus_3_bar_1_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_78_bar__plus_00_dot_90_bar__minus_02_dot_08 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Mug_bar__plus_01_dot_77_bar__plus_00_dot_55_bar__plus_02_dot_53 loc_bar_5_bar_5_bar_0_bar_45) + (objectAtLocation Knife_bar__plus_00_dot_18_bar__plus_00_dot_95_bar__plus_00_dot_99 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Egg_bar__plus_00_dot_52_bar__plus_00_dot_98_bar__plus_01_dot_22 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Tomato_bar__minus_00_dot_16_bar__plus_00_dot_98_bar__plus_00_dot_76 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_79_bar__plus_00_dot_90_bar__minus_02_dot_19 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation Cup_bar__minus_00_dot_21_bar__plus_00_dot_76_bar__minus_02_dot_12 loc_bar__minus_1_bar__minus_5_bar_2_bar_45) + (objectAtLocation SaltShaker_bar__plus_01_dot_67_bar__plus_00_dot_88_bar__plus_02_dot_51 loc_bar_6_bar_8_bar_0_bar_60) + (objectAtLocation Plate_bar__minus_01_dot_44_bar__plus_00_dot_86_bar__minus_00_dot_50 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Spatula_bar__plus_00_dot_29_bar__plus_00_dot_94_bar__plus_00_dot_08 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation WineBottle_bar__plus_01_dot_83_bar__plus_00_dot_09_bar__plus_00_dot_16 loc_bar_5_bar_1_bar_1_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_57_bar__plus_01_dot_59_bar__minus_00_dot_50 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Bread_bar__minus_01_dot_50_bar__plus_01_dot_23_bar__minus_00_dot_60 loc_bar__minus_2_bar__minus_3_bar_3_bar_60) + (objectAtLocation Ladle_bar__plus_01_dot_91_bar__plus_01_dot_70_bar__minus_01_dot_61 loc_bar_4_bar__minus_5_bar_1_bar__minus_30) + (objectAtLocation 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loc_bar_4_bar__minus_3_bar_1_bar_45) + (objectAtLocation ButterKnife_bar__minus_00_dot_77_bar__plus_00_dot_91_bar__minus_02_dot_13 loc_bar_3_bar__minus_5_bar_2_bar_45) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_41 loc_bar_4_bar__minus_2_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_25 loc_bar_4_bar__minus_1_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_65 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation StoveKnob_bar__plus_02_dot_04_bar__plus_01_dot_09_bar__minus_00_dot_82 loc_bar_4_bar__minus_3_bar_1_bar_30) + (objectAtLocation Tomato_bar__minus_00_dot_05_bar__plus_00_dot_98_bar__plus_00_dot_53 loc_bar__minus_4_bar_3_bar_1_bar_45) + (objectAtLocation Chair_bar__minus_00_dot_54_bar__plus_00_dot_61_bar__plus_01_dot_26 loc_bar__minus_4_bar_5_bar_1_bar_60) + (objectAtLocation 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return to where the tomatoes are on the kitchen island.", + "Take one slice from the tomato on the right.", + "Turn around and carry the tomato slice to the microwave.", + "Cook the tomato slice in the microwave and take it out.", + "Turn around and go to the green wastebasket to the left of the stove.", + "Throw the tomato slice in the wastebasket." + ], + "task_desc": "Discard a cooked tomato slice.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3A0VPWPASCO9J_3I0BTBYZA02MGYOXWDHWBJR9PDL0YQ", + "high_descs": [ + "Turn around and walk across the room to the stove.", + "Take a left and walk to the center of the island on the left.", + "Pick up the sharp knife on the island that's between the two pieces of lettuce and go to the opposite side of the island.", + "Slice the tomato next to the plate.", + "Turn right and go to the microwave.", + "Open the microwave and put the sharp knife inside.", + "Turn around and walk back to the island where the sliced tomato is.", + "Pick up a slice of tomato. ", + "Turn around and walk to the microwave on the right.", + "Put the tomato slice inside the microwave, use the microwave to heat up the tomato slice and take it back out.", + "Walk across the room to the trash bin next to the stove.", + "Put the heated tomato slice in the trash." + ], + "task_desc": "Put a slice of warm tomato into the trash bin.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3JZLYQ606HJJR_3KIBXJ1WD8BCZARZUJIGSC8GP7YKON", + "high_descs": [ + "Move to the white island counter in the center of the kitchen.", + "Pick up the knife that is near the lettuce.", + "Move across the the other side of the counter by the tomatoes. ", + "Use the knife to slice a tomato. ", + "Move across the room to the microwave. ", + "Place the knife inside the microwave. ", + "Move across the room until you are at the counter with the slice tomato. ", + "Pick up a slice of tomato off of the counter. ", + "Move across the room to the microwave. ", + "Place the tomato in the microwave. Turn the microwave on for a short time. Remove the cooked tomato from the microwave. ", + "Move across the room to the green trash bin. ", + "Discard the tomato into the trash bin. " + ], + "task_desc": "Use a knife to slice a tomato, cook it in the microwave, & discarding the tomato in the trash bin. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a65bf53ac88c8a6a8606a6c12bbe4169a28a55d9 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/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 book in dresser.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190908_144510_731798)\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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_65_bar__plus_00_dot_42_bar__plus_00_dot_09 - object\n Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 - object\n Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25 - object\n Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_12_bar__plus_00_dot_04_bar__minus_01_dot_82 - object\n CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39 - object\n CD_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66 - object\n CellPhone_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object\n CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66 - object\n CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 - object\n CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 - 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_04_bar__minus_01_dot_49 - object\n KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 - object\n KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 - 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_98_bar__minus_01_dot_56 - object\n Pencil_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_77 - object\n Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 - object\n Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 - 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_7_bar_5_bar_1_bar_60 - 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_6_bar__minus_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 CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 CreditCardType)\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 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 CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66 CellPhoneType)\n (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType)\n (objectType CD_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66 CDType)\n (objectType Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType)\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 CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39 CDType)\n (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25 BookType)\n (objectType CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType)\n (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 KeyChainType)\n (objectType Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 PenType)\n (objectType CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 CreditCardType)\n (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 PenType)\n (objectType KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 KeyChainType)\n (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType)\n (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType)\n (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType)\n (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 BookType)\n (objectType Pencil_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_56 PencilType)\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_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 CellPhoneType)\n (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09 BookType)\n (objectType Pencil_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_77 PencilType)\n (objectType CD_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_82 CDType)\n (objectType Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24 PillowType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_49 KeyChainType)\n (objectType CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13 CellPhoneType)\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 CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\n (pickupable Cloth_bar__minus_01_dot_29_bar__plus_00_dot_00_bar__minus_01_dot_94)\n (pickupable CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66)\n (pickupable Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50)\n (pickupable CD_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66)\n (pickupable Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_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 CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39)\n (pickupable Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25)\n (pickupable CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29)\n (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23)\n (pickupable KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77)\n (pickupable Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78)\n (pickupable CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40)\n (pickupable Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60)\n (pickupable KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49)\n (pickupable TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25)\n (pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\n (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59)\n (pickupable Pencil_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_56)\n (pickupable CellPhone_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78)\n (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09)\n (pickupable Pencil_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_77)\n (pickupable CD_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_82)\n (pickupable Pillow_bar__plus_02_dot_15_bar__plus_00_dot_43_bar__minus_00_dot_24)\n (pickupable KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_49)\n (pickupable CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13)\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_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\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__minus_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_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\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_00_bar__plus_00_dot_97_bar__minus_01_dot_85)\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 KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CD_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_82 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_49 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle Pencil_bar__plus_00_dot_49_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)\n (inReceptacle CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 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 CreditCard_bar__plus_02_dot_34_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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle CreditCard_bar__plus_00_dot_40_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_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 CellPhone_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 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 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 Pencil_bar__plus_00_dot_00_bar__plus_00_dot_98_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__minus_00_dot_58_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 Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 GarbageCan_bar__minus_02_dot_21_bar__plus_00_dot_00_bar__minus_01_dot_74)\n (inReceptacle CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle Book_bar__plus_00_dot_65_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 Book_bar__plus_00_dot_65_bar__plus_00_dot_42_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_15_bar__plus_00_dot_42_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_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)\n (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)\n (inReceptacle Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 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__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 loc_bar__minus_5_bar__minus_4_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_00_dot_12_bar__plus_00_dot_04_bar__minus_01_dot_82 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\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 KeyChain_bar__plus_00_dot_40_bar__plus_00_dot_04_bar__minus_01_dot_49 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 loc_bar_5_bar_4_bar_1_bar_60)\n (objectAtLocation Pencil_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_56 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39 loc_bar_7_bar_5_bar_1_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_65_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_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_21_bar__plus_00_dot_61_bar__minus_01_dot_66 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_77 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 loc_bar_5_bar_4_bar_1_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__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\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__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_00_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__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66 loc_bar__minus_1_bar__minus_1_bar_2_bar_45)\n (objectAtLocation Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 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 (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 4 from bed 1", "go to dresser 1", "move book 4 to dresser 1", "go to bed 1", "take book 3 from bed 1", "go to dresser 1", "move book 3 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..072f8e7275ce4429dd5a111e9b67c7415f67b818 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190908_144510_731798/initial_state.pddl @@ -0,0 +1,638 @@ + +(define (problem plan_trial_T20190908_144510_731798) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_65_bar__plus_00_dot_42_bar__plus_00_dot_09 - object + Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 - object + Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 - object + Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25 - object + Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_12_bar__plus_00_dot_04_bar__minus_01_dot_82 - object + CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39 - object + CD_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66 - object + CellPhone_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_78 - object + CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66 - object + CellPhone_bar__plus_01_dot_65_bar__plus_00_dot_04_bar__minus_02_dot_13 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 - object + CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 - 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_04_bar__minus_01_dot_49 - object + KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 - object + KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 - 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_98_bar__minus_01_dot_56 - object + Pencil_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_77 - object + Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 - object + Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 - 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_7_bar_5_bar_1_bar_60 - 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_6_bar__minus_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 CreditCard_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 CreditCardType) + (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 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 CellPhone_bar__plus_00_dot_21_bar__plus_00_dot_61_bar__minus_01_dot_66 CellPhoneType) + (objectType Box_bar__minus_01_dot_75_bar__plus_00_dot_25_bar__plus_01_dot_50 BoxType) + (objectType CD_bar__minus_00_dot_58_bar__plus_00_dot_22_bar__minus_01_dot_66 CDType) + (objectType Bowl_bar__plus_00_dot_00_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType) + (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 CD_bar__plus_02_dot_13_bar__plus_00_dot_47_bar__plus_01_dot_39 CDType) + (objectType Book_bar__plus_01_dot_15_bar__plus_00_dot_42_bar__plus_00_dot_25 BookType) + (objectType CreditCard_bar__plus_02_dot_34_bar__plus_00_dot_57_bar__plus_01_dot_29 CreditCardType) + (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType KeyChain_bar__minus_00_dot_12_bar__plus_00_dot_41_bar__minus_01_dot_77 KeyChainType) + (objectType Pen_bar__minus_02_dot_17_bar__plus_00_dot_06_bar__minus_01_dot_78 PenType) + (objectType CreditCard_bar__plus_02_dot_07_bar__plus_00_dot_57_bar__plus_01_dot_40 CreditCardType) + (objectType Pen_bar__plus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_60 PenType) + (objectType KeyChain_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_49 KeyChainType) + (objectType TeddyBear_bar__minus_02_dot_24_bar__plus_00_dot_00_bar__plus_01_dot_46 TeddyBearType) + (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType) + (objectType Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86 BowlType) + (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_59 BookType) + (objectType Pencil_bar__plus_00_dot_00_bar__plus_00_dot_98_bar__minus_01_dot_56 PencilType) + (objectType 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", + "Turn to your right and go to the right side of the wooden dresser. ", + "Place the book on the dresser, between the credit card and the pencil. ", + "Turn to your left again, and go back to thee foot of the bed so that you are facing the front of the bed.", + "Pick up the book to the right of the one on the left corner of the foot of the bed. ", + "Turn to your right and go back to the wooden dresser. ", + "Place the book on the left, corner of the dresser. " + ], + "task_desc": "Put two books on the dresser. ", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3R9WASFE227L3HZQRPRHTJ7HWZOFZO", + "high_descs": [ + "Turn around, go forward a step, turn right, go forward to the bed.", + "Take the book on the right from the bed.", + "Turn right, go to dresser, step to the left, face the dresser.", + "Put the book on the dresser to the left of the pencil.", + "Turn right, go forward a step, turn right, go forward, turn right at the bed.", + "Take the book closest to you near the center of the bed.", + "Turn right, go to dresser, step to the left, face the dresser.", + "Put the book on the dresser to the left of the first book." + ], + "task_desc": "Put two books on a dresser.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2YUCJ28XANFOX_38F71OA9GWNL4A07C01NLHB8HVKFML", + "high_descs": [ + "Turn around and cross the room to the bed", + "Pick up the last book on the end at the bottom of the bed", + "turn and cross to the dresser on your right", + "place the book on the dresser", + "Turn around and go back to the bed ", + "pick up the book on the end of the bed that is sitting beside another book", + "Turn right and cross over to the dresser ", + "Place the book beside the other book on the dresser" + ], + "task_desc": "Move the books to 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-Book-None-Dresser-317/trial_T20190910_180514_095493/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..7acbe182ce29905c9560c87fd55b24e776f1537d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/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 book 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_T20190910_180514_095493)\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_15_bar__plus_00_dot_57_bar__plus_01_dot_21 - 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_90_bar__plus_00_dot_42_bar__plus_00_dot_09 - object\n Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - object\n CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_08 - object\n CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 - object\n CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 - 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_49_bar__plus_00_dot_61_bar__minus_01_dot_71 - 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_02_dot_18 - object\n Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 - object\n Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 - 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_40_bar__plus_00_dot_41_bar__minus_01_dot_60 - 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_21_bar__plus_00_dot_41_bar__minus_01_dot_77 - object\n Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 - 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_90_bar__plus_00_dot_48_bar__minus_00_dot_25 - object\n Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - 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_2_bar_5_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType)\n (objectType Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77 PencilType)\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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 PencilType)\n (objectType CreditCard_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 CreditCardType)\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 CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 CellPhoneType)\n (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType)\n (objectType CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType)\n (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 PenType)\n (objectType CD_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType)\n (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 AlarmClockType)\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 Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41 BookType)\n (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CellPhoneType)\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_90_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType)\n (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\n (objectType Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType)\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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42)\n (pickupable Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77)\n (pickupable Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12)\n (pickupable Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60)\n (pickupable CreditCard_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71)\n (pickupable Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33)\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 CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71)\n (pickupable CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_08)\n (pickupable Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71)\n (pickupable CD_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71)\n (pickupable KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18)\n (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21)\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 Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41)\n (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_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_90_bar__plus_00_dot_48_bar__minus_00_dot_25)\n (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19)\n (pickupable Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42)\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_2_bar_5_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 CellPhone_bar__minus_00_dot_49_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 Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_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_21_bar__plus_00_dot_41_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CreditCard_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 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 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 CD_bar__plus_00_dot_40_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 CellPhone_bar__minus_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 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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63)\n (inReceptacle CellPhone_bar__plus_01_dot_54_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 KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (inReceptacle Pillow_bar__plus_00_dot_90_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_39_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 (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)\n (inReceptacle Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_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__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 Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 loc_bar_0_bar__minus_2_bar_2_bar_45)\n (objectAtLocation CellPhone_bar__minus_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 Book_bar__plus_01_dot_39_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__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_1_bar_2_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_90_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_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_54_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77 loc_bar__minus_3_bar__minus_2_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 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__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 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_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 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_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 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__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30)\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 (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 2 from bed 1", "go to dresser 1", "move book 2 to dresser 1", "go to bed 1", "take book 1 from bed 1", "go to dresser 1", "move book 1 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b3a22cc6a654d11ebc4fead91577e2c17d13ebc1 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/initial_state.pddl @@ -0,0 +1,600 @@ + +(define (problem plan_trial_T20190910_180514_095493) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_57_bar__plus_01_dot_21 - 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_90_bar__plus_00_dot_42_bar__plus_00_dot_09 - object + Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41 - 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_40_bar__plus_00_dot_97_bar__minus_01_dot_71 - object + CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_08 - object + CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 - object + CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 - 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_49_bar__plus_00_dot_61_bar__minus_01_dot_71 - 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_02_dot_18 - object + Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 - object + Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 - 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_40_bar__plus_00_dot_41_bar__minus_01_dot_60 - object + Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 - object + Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77 - object + Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 - object + Pen_bar__minus_00_dot_58_bar__plus_00_dot_81_bar__minus_01_dot_77 - object + Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 - object + Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - 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_2_bar_5_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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType) + (objectType Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77 PencilType) + (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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 PencilType) + (objectType CreditCard_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 CreditCardType) + (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 CellPhone_bar__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 CellPhoneType) + (objectType Window_bar__plus_01_dot_40_bar__plus_01_dot_82_bar__minus_02_dot_35 WindowType) + (objectType CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_08 CellPhoneType) + (objectType Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 PenType) + (objectType CD_bar__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 CDType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 KeyChainType) + (objectType AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 AlarmClockType) + (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 Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41 BookType) + (objectType CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CellPhoneType) + (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_90_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType) + (objectType Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19 PencilType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (objectType Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 LaptopType) + (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 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(pickupable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (pickupable Book_bar__plus_01_dot_39_bar__plus_00_dot_42_bar__minus_00_dot_41) + (pickupable CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_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_90_bar__plus_00_dot_48_bar__minus_00_dot_25) + (pickupable Pencil_bar__plus_02_dot_25_bar__plus_00_dot_57_bar__plus_01_dot_19) + (pickupable Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42) + (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_2_bar_5_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 CellPhone_bar__minus_00_dot_49_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 Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_86_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_21_bar__plus_00_dot_41_bar__minus_01_dot_77 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CreditCard_bar__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 Drawer_bar__minus_00_dot_40_bar__plus_00_dot_67_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 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 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 CD_bar__plus_00_dot_40_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 CellPhone_bar__minus_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 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 Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_48_bar__minus_01_dot_63) + (inReceptacle CellPhone_bar__plus_01_dot_54_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 KeyChain_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 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 Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07) + (inReceptacle Pillow_bar__plus_00_dot_90_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_39_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) + (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) + (inReceptacle Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_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__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) + (objectAtLocation Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__plus_00_dot_42 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_00_dot_40_bar__plus_00_dot_41_bar__minus_01_dot_60 loc_bar_0_bar__minus_2_bar_2_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Book_bar__plus_01_dot_39_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__minus_00_dot_49_bar__plus_00_dot_04_bar__minus_01_dot_71 loc_bar__minus_4_bar__minus_1_bar_2_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_90_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_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_54_bar__plus_00_dot_04_bar__minus_02_dot_08 loc_bar_8_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pencil_bar__minus_00_dot_21_bar__plus_00_dot_41_bar__minus_01_dot_77 loc_bar__minus_3_bar__minus_2_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_21 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__minus_00_dot_49_bar__plus_00_dot_61_bar__minus_01_dot_71 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_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_18 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_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45) + (objectAtLocation Laptop_bar__plus_00_dot_90_bar__plus_00_dot_41_bar__plus_00_dot_42 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__plus_00_dot_40_bar__plus_00_dot_97_bar__minus_01_dot_71 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Pen_bar__minus_00_dot_21_bar__plus_00_dot_81_bar__minus_01_dot_71 loc_bar__minus_1_bar__minus_2_bar_2_bar_30) + (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 (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 BookType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 BookType) + (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-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..a396b95b65c4ea3b15cdf7606808bba60525b898 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180514_095493/traj_data.json @@ -0,0 +1,3838 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": 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"Pillow_3722a8eb", + "position": { + "x": 0.8975475, + "y": 0.477432, + "z": -0.2470977 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Laptop_bee5e5d1", + "position": { + "x": 1.64030886, + "y": 0.413577348, + "z": 0.419097781 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Bowl_8fde142b", + "position": { + "x": 0.471582562, + "y": 0.965303957, + "z": -1.85630941 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_4184daa6", + "position": { + "x": -1.28804266, + "y": 0.0009266287, + "z": -1.93654728 + }, + "rotation": { + "x": 0.186394244, + "y": 357.341461, + "z": 356.93692 + } + }, + { + "objectName": "CD_4560e1b8", + "position": { + "x": 0.402982116, + "y": 0.971910655, + "z": -1.70524311 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Pen_f62f2df7", + "position": { + "x": -0.581208348, + "y": 0.8056051, + "z": -1.76846707 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 67163163, + "scene_num": 317 + }, + "task_id": "trial_T20190910_180514_095493", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3F7G1FSFWQPLE_3LYA37P8ITE015OOMM2BNESJDT2BK1", + "high_descs": [ + "Walk over to the end of the bed.", + "Pick up the closest blue book off of the bed.", + "Turn right and walk up to the left side of the wooden dresser.", + "Put the blue book o the wooden dresser to the right of the disc.", + "Turn left and walk towards the wall, then turn left to face the bed.", + "Pick up the blue book off of the bed.", + "Turn left and walk over to the left side of the wooden dresser.", + "Put the blue book on the wooden dresser to the left of the disc." + ], + "task_desc": "Move two books from the bed to the dresser.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_3X66WABAJZ9QWOOSH22Q732EIKXG31", + "high_descs": [ + "Turn left and turn to the bed", + "Grab the book off of the bed", + "Turn right and go to the drawer", + "Put the book on top of the drawer", + "Turn around and go to the bed", + "Grab the book off of the bed", + "Turn around and go to the drawer", + "Put the book to the left of the book on the drawer" + ], + "task_desc": "Put two books on the top of a drawer", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AISNLDPD2DFEG_30ZX6P7VFBMB28IAL89OL6P24YG2JI", + "high_descs": [ + "Go forward, turn left at the bed", + "Pick up the book on the bed", + "Turn right, go to the dresser", + "Put the book on the dresser", + "Turn left, go forward a bit, turn left at the bed", + "Pick up the book on the bed", + "Turn left, go forward a bit, turn left at the dresser", + "Put the book on the dresser" + ], + "task_desc": "Put two books 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-Book-None-Dresser-317/trial_T20190910_180738_291661/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..2d87cddefc5776d5736abcb3ea9efd43cf6d20ef --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/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 book 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_T20190910_180738_291661)\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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_65_bar__plus_00_dot_42_bar__plus_00_dot_09 - object\n Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 - object\n Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25 - object\n Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_63 - object\n CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13 - object\n CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 - 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_60_bar__plus_00_dot_97_bar__minus_01_dot_93 - 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_49_bar__plus_00_dot_80_bar__minus_01_dot_77 - object\n KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 - object\n Laptop_bar__plus_01_dot_64_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_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 - object\n Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 - object\n Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 - object\n Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 - object\n Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 - object\n Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - 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_7_bar_5_bar_1_bar_60 - 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_8_bar_2_bar_1_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 PenType)\n (objectType CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 CellPhoneType)\n (objectType CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 CreditCardType)\n (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13 CDType)\n (objectType Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 BookType)\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 Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 PencilType)\n (objectType Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__minus_00_dot_08 LaptopType)\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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType)\n (objectType CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CDType)\n (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType)\n (objectType Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType)\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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 PenType)\n (objectType KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 KeyChainType)\n (objectType Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType)\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 Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 PillowType)\n (objectType Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09 BookType)\n (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType)\n (objectType KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 KeyChainType)\n (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType)\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 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Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72)\n (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23)\n (pickupable CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63)\n (pickupable Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25)\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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60)\n (pickupable KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39)\n (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85)\n (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42)\n (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09)\n (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25)\n (pickupable KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77)\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 (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_8_bar_2_bar_1_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 (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_47_bar__plus_00_dot_97_bar__minus_01_dot_86)\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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63)\n (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51)\n (inReceptacle Pencil_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 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 KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63)\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 Pen_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 CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 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 CD_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 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 CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02)\n (inReceptacle Laptop_bar__plus_01_dot_64_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)\n (inReceptacle Book_bar__plus_02_dot_14_bar__plus_00_dot_42_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 (inReceptacle Pillow_bar__plus_00_dot_90_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_00_dot_65_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 Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 Bed_bar__plus_01_dot_38_bar__minus_00_dot_01_bar__plus_00_dot_07)\n (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)\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__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 loc_bar__minus_4_bar__minus_1_bar_2_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13 loc_bar_7_bar__minus_6_bar_2_bar_60)\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 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 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 KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 loc_bar_0_bar__minus_2_bar_2_bar_30)\n (objectAtLocation Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25 loc_bar_5_bar__minus_5_bar_0_bar_45)\n (objectAtLocation Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 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__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09 loc_bar_5_bar__minus_5_bar_0_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_54_bar__plus_00_dot_04_bar__minus_02_dot_03 loc_bar_8_bar__minus_4_bar_2_bar_60)\n (objectAtLocation Pencil_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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 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_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 loc_bar_7_bar_5_bar_1_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_90_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__plus_01_dot_64_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_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_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 Pen_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 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 (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 BookType)\n (receptacleType ?r DresserType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to bed 1", "take book 3 from bed 1", "go to dresser 1", "move book 3 to dresser 1", "go to bed 1", "take book 2 from bed 1", "go to dresser 1", "move book 2 to dresser 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6f3c37c130941000aae9cff5c72d5394ea974ac3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Book-None-Dresser-317/trial_T20190910_180738_291661/initial_state.pddl @@ -0,0 +1,608 @@ + +(define (problem plan_trial_T20190910_180738_291661) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_15_bar__plus_00_dot_57_bar__plus_01_dot_23 - 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_65_bar__plus_00_dot_42_bar__plus_00_dot_09 - object + Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 - object + Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25 - object + Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 - 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_63 - object + CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13 - object + CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 - 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_60_bar__plus_00_dot_97_bar__minus_01_dot_93 - object + DeskLamp_bar__plus_02_dot_27_bar__plus_00_dot_57_bar__plus_01_dot_44 - object + KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 - object + KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 - object + Laptop_bar__plus_01_dot_64_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_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 - object + Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 - object + Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 - object + Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42 - object + Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 - object + Pillow_bar__plus_02_dot_11_bar__plus_00_dot_42_bar__plus_00_dot_33 - 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_7_bar_5_bar_1_bar_60 - 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_8_bar_2_bar_1_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 Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63 PenType) + (objectType CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 CellPhoneType) + (objectType CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 CreditCardType) + (objectType CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13 CDType) + (objectType Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 BookType) + (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 Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51 PencilType) + (objectType Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__minus_00_dot_08 LaptopType) + (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 AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 AlarmClockType) + (objectType CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63 CDType) + (objectType Blinds_bar__plus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (objectType Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25 BookType) + (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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 PenType) + (objectType KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 KeyChainType) + (objectType Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85 BowlType) + (objectType Blinds_bar__minus_01_dot_42_bar__plus_03_dot_12_bar__minus_02_dot_34 BlindsType) + (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 Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09 BookType) + (objectType Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25 PillowType) + (objectType KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 KeyChainType) + (objectType Poster_bar__plus_02_dot_44_bar__plus_01_dot_51_bar__plus_00_dot_01 PosterType) + (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 Cloth_bar__minus_01_dot_15_bar__plus_00_dot_00_bar__minus_02_dot_12) + (pickupable Pen_bar__plus_00_dot_20_bar__plus_00_dot_98_bar__minus_01_dot_63) + (pickupable CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03) + (pickupable CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93) + (pickupable CD_bar__plus_01_dot_70_bar__plus_00_dot_04_bar__minus_02_dot_13) + (pickupable Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42) + (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 Pencil_bar__plus_02_dot_16_bar__plus_00_dot_57_bar__plus_01_dot_51) + (pickupable Laptop_bar__plus_01_dot_64_bar__plus_00_dot_41_bar__minus_00_dot_08) + (pickupable Laptop_bar__minus_00_dot_50_bar__plus_00_dot_97_bar__minus_01_dot_72) + (pickupable AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23) + (pickupable CD_bar__plus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_63) + (pickupable Book_bar__plus_02_dot_14_bar__plus_00_dot_42_bar__minus_00_dot_25) + (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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60) + (pickupable KeyChain_bar__plus_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39) + (pickupable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + (pickupable Pillow_bar__plus_00_dot_65_bar__plus_00_dot_48_bar__plus_00_dot_42) + (pickupable Book_bar__plus_00_dot_65_bar__plus_00_dot_42_bar__plus_00_dot_09) + (pickupable Pillow_bar__plus_00_dot_90_bar__plus_00_dot_48_bar__minus_00_dot_25) + (pickupable KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77) + (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) + (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_8_bar_2_bar_1_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) + (cleanable Bowl_bar__plus_00_dot_20_bar__plus_00_dot_97_bar__minus_01_dot_85) + + + (coolable Bowl_bar__plus_00_dot_47_bar__plus_00_dot_97_bar__minus_01_dot_86) + (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 Pen_bar__minus_00_dot_39_bar__plus_00_dot_04_bar__minus_01_dot_60 Drawer_bar__minus_00_dot_39_bar__plus_00_dot_10_bar__minus_01_dot_63) + (inReceptacle AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 SideTable_bar__plus_02_dot_19_bar__plus_00_dot_00_bar__plus_01_dot_51) + (inReceptacle Pencil_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 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 KeyChain_bar__plus_00_dot_49_bar__plus_00_dot_80_bar__minus_01_dot_77 Drawer_bar__plus_00_dot_40_bar__plus_00_dot_86_bar__minus_01_dot_63) + (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 Pen_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 CreditCard_bar__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 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 CD_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 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 CellPhone_bar__plus_01_dot_54_bar__plus_00_dot_04_bar__minus_02_dot_03 Safe_bar__plus_01_dot_65_bar__plus_00_dot_00_bar__minus_02_dot_02) + (inReceptacle Laptop_bar__plus_01_dot_64_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 Book_bar__plus_02_dot_14_bar__plus_00_dot_42_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) + (inReceptacle Pillow_bar__plus_00_dot_90_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_00_dot_65_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 Book_bar__plus_01_dot_64_bar__plus_00_dot_42_bar__plus_00_dot_42 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 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(objectAtLocation AlarmClock_bar__plus_02_dot_15_bar__plus_00_dot_57_bar__plus_01_dot_23 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__minus_00_dot_60_bar__plus_00_dot_97_bar__minus_01_dot_93 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_02_dot_33_bar__plus_00_dot_47_bar__plus_01_dot_39 loc_bar_7_bar_5_bar_1_bar_60) + (objectAtLocation Pillow_bar__plus_00_dot_90_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__plus_01_dot_64_bar__plus_00_dot_41_bar__minus_00_dot_08 loc_bar_5_bar__minus_5_bar_0_bar_45) + 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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 (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 BookType) + (receptacleType ?r DresserType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 BookType) + (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-Book-None-Dresser-317/trial_T20190910_180738_291661/traj_data.json 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", + "Pick up the book to the right of the laptop. ", + "Turn left, turn left again to face the wooden dresser. ", + "Place the book on the dresser to the left of the pen. ", + "Turn around and face the foot of the bed. ", + "Pick up the book between the two cushions on the bed. ", + "Turn right and walk back to the wooden dresser. ", + "Put the book down on the wooden dresser to the right of the pen. " + ], + "task_desc": "To move two books from the bed to the dresser. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3KGTPGBS60CKGOT4X7D2S8YDLEGU28", + "high_descs": [ + "Turn right and walk across the room, then hang a left and walk up to the side of the bed.", + "Pick up the closest book off of the bed.", + "Turn left and walk over to the dresser, the turn left to face it.", + "Put the book on the left side of the dresser to the right of the disc.", + "Walk over to the end of the bed.", + "Pick up the closest blue book off of the bed.", + "Turn right and walk over to the left side of the dresser.", + "Put the blue book on the dresser to the right of the pencil." + ], + "task_desc": "Move two books from the bed to the 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-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..3a22c17bbff9148fd84ad9af78f24af7e4e580e5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two creditcard in 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_001332_765357)\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__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 - object\n Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 - 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_43_bar__plus_00_dot_62_bar__plus_00_dot_91 - object\n CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 - object\n CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 - object\n CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 - object\n KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 - object\n KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n KeyChain_bar__minus_00_dot_43_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__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 - 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__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 - object\n Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object\n Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 - object\n Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 - object\n Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 - object\n Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 - object\n Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 - object\n Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 - 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_2_bar_1_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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 BookType)\n (objectType AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 PencilType)\n (objectType Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 PenType)\n (objectType Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 PenType)\n (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 PencilType)\n (objectType Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 PencilType)\n (objectType CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91 CDType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 CreditCardType)\n (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 CellPhoneType)\n (objectType CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 CreditCardType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType)\n (objectType KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType)\n (objectType Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 LaptopType)\n (objectType Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 BookType)\n (objectType Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 LaptopType)\n (objectType Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 MugType)\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 KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 KeyChainType)\n (objectType CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 CellPhoneType)\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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83)\n (pickupable AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43)\n (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99)\n (pickupable Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68)\n (pickupable Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60)\n (pickupable Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33)\n (pickupable CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51)\n (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60)\n (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88)\n (pickupable Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43)\n (pickupable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42)\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__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42)\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_2_bar_1_bar_0_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42)\n \n (heatable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42)\n (coolable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42)\n \n \n \n \n \n \n \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__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 Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70)\n (inReceptacle KeyChain_bar__plus_00_dot_03_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 Pencil_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 KeyChain_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 CD_bar__minus_00_dot_43_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 Pen_bar__plus_00_dot_03_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 KeyChain_bar__minus_00_dot_43_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 Book_bar__minus_00_dot_12_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 CellPhone_bar__plus_00_dot_19_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 CellPhone_bar__minus_00_dot_43_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 Book_bar__minus_00_dot_74_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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle Pen_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 CreditCard_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 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 Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__plus_01_dot_11_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 Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Pen_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 CreditCard_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 CellPhone_bar__plus_00_dot_19_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__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_bar__plus_00_dot_03_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_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 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_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation KeyChain_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 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 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_43_bar__plus_00_dot_63_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_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__plus_00_dot_03_bar__plus_00_dot_62_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__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91 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_09_bar__plus_00_dot_67_bar__minus_02_dot_42 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 (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 4", "take creditcard 2 from sidetable 2", "go to diningtable 1", "move creditcard 2 to diningtable 1", "go to drawer 4", "take creditcard 1 from sidetable 2", "go to diningtable 1", "move creditcard 1 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7a76daa7f3cc86d4cb036537e8b301c92815cea7 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190909_001332_765357/initial_state.pddl @@ -0,0 +1,494 @@ + +(define (problem plan_trial_T20190909_001332_765357) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 - object + Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 - object + Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04 - object + CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91 - object + CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 - object + CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 - object + KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 - object + KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + KeyChain_bar__minus_00_dot_43_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__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 - 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__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 - object + Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 - object + Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 - object + Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 - object + Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 - object + Pillow_bar__plus_00_dot_19_bar__plus_00_dot_61_bar__minus_02_dot_31 - 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_2_bar_1_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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83 BookType) + (objectType AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43 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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 PencilType) + (objectType Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68 PenType) + (objectType Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 PenType) + (objectType Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60 PencilType) + (objectType Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 PencilType) + (objectType CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91 CDType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51 CreditCardType) + (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 CellPhoneType) + (objectType CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 CreditCardType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 KeyChainType) + (objectType KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType) + (objectType Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88 LaptopType) + (objectType Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 BookType) + (objectType Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 LaptopType) + (objectType Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 MugType) + (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 KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 KeyChainType) + (objectType CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 CellPhoneType) + (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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_83) + (pickupable AlarmClock_bar__minus_01_dot_24_bar__plus_00_dot_67_bar__minus_02_dot_43) + (pickupable Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99) + (pickupable Pen_bar__minus_00_dot_28_bar__plus_00_dot_63_bar__plus_00_dot_68) + (pickupable Pen_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable Pencil_bar__minus_00_dot_59_bar__plus_00_dot_63_bar__plus_00_dot_60) + (pickupable Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33) + (pickupable CD_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable CreditCard_bar__minus_01_dot_32_bar__plus_00_dot_68_bar__minus_02_dot_51) + (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60) + (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Laptop_bar__minus_00_dot_48_bar__plus_00_dot_55_bar__minus_01_dot_88) + (pickupable Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43) + (pickupable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42) + (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 KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07) + (isReceptacleObject Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42) + (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_2_bar_1_bar_0_bar_30) + + (cleanable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42) + + (heatable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42) + (coolable Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42) + + + + + + + + (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__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 Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 Bed_bar__minus_00_dot_12_bar__plus_00_dot_00_bar__minus_01_dot_70) + (inReceptacle KeyChain_bar__plus_00_dot_03_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 Pencil_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 KeyChain_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 CD_bar__minus_00_dot_43_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 Pen_bar__plus_00_dot_03_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 KeyChain_bar__minus_00_dot_43_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 Book_bar__minus_00_dot_12_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 CellPhone_bar__plus_00_dot_19_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 CellPhone_bar__minus_00_dot_43_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 Book_bar__minus_00_dot_74_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 Pencil_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_99 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle Pen_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) + (inReceptacle CreditCard_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 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 Mug_bar__minus_01_dot_09_bar__plus_00_dot_67_bar__minus_02_dot_42 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__plus_01_dot_11_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 Laptop_bar__minus_00_dot_12_bar__plus_00_dot_55_bar__minus_01_dot_43 loc_bar__minus_1_bar__minus_2_bar_2_bar_60) + (objectAtLocation Pen_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 CreditCard_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 CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_76 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation KeyChain_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_60 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Book_bar__minus_00_dot_74_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pencil_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 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_62_bar__plus_00_dot_83 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation KeyChain_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 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 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_43_bar__plus_00_dot_63_bar__plus_00_dot_99 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CellPhone_bar__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CreditCard_bar__minus_01_dot_26_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_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__plus_00_dot_03_bar__plus_00_dot_62_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__minus_00_dot_43_bar__plus_00_dot_62_bar__plus_00_dot_91 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_09_bar__plus_00_dot_67_bar__minus_02_dot_42 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 (?o1 - object) + (and + (objectType ?o1 CreditCardType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 CreditCardType) + (receptacleType ?r DiningTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"object_toggles": [], + "random_seed": 243178098, + "scene_num": 329 + }, + "task_id": "trial_T20190909_001332_765357", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A10AVWALIHR4UQ_36H9ULYP65LV32UM93OV5PJRD6QJFW", + "high_descs": [ + "Turn to the left and move to the window than turn left and move to the brown nightstand between the bed and the wall.", + "Pick up the credit card to the rear right of the alarm clock from the nightstand.", + "Turn around and move to the foot of the bed then turn and face the table against the wall and next to the door.", + "Place the credit card to the right of the set of keys on the edge of the table.", + "Turn around and move back to the nightstand to the right of the bed in the corner of the room.", + "Pick up the credit card at the rear of the alarm clock from the nightstand.", + "Turn around and move to the foot of the bed then turn and face the table to the left of the door.", + "Place the credit card to the left of the yellow pencil on the edge of the table closest to you." + ], + "task_desc": "Place two credit cards on the table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A32W24TWSWXW_3GM6G9ZBKQOVNFI87K6C2LQ989JTM8", + "high_descs": [ + "Turn left and walk to the wall, take another left and go to the nightstand and stop.", + "Pick up the credit card closest to the clock.", + "Turn around and walk to the end of the bed, take a right and then a left and stand in front of the desk.", + "Put the credit card on the desk under the middle pencil of the three lying horizontal on the desk.", + "Turn left and go to the wall, take a left and walk to the nightstand.", + "Pick up the credit card behind the clock.", + "Turn around and walk to the end of the bed, take a right and then a left and stand in front of the desk.", + "Put the credit card on the desk to the left of the pencil on the far left of the desk." + ], + "task_desc": "Put two credit cards, from the nightstand, on the desk.", + "votes": [ + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3VBEN272MNQUG5977H3RFBAQA5IGSP", + "high_descs": [ + "Turn and go to the nightstand in the corner. ", + "Pick up a credit card on the nightstand. ", + "Turn and go to the table. ", + "Put the credit card on the table. ", + "Turn and go to the nightstand in the corner. ", + "Pick up a credit card on the nightstand. ", + "Turn and go to the table. ", + "Put the credit card on the table. " + ], + "task_desc": "Move two credit cards from the nightstand to the table. ", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..981e2f88332b8cadf47c70afb341edc1ec2bf4fb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: put two creditcard in diningtable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_154254_505630)\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_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__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n Book_bar__minus_00_dot_48_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_00_dot_60 - object\n CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 - object\n CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 - object\n CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 - object\n CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 - 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_08_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__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__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 - object\n Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 - object\n Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46 - object\n Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object\n Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 - object\n Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 - object\n Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 - object\n Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 - object\n Pillow_bar__plus_00_dot_25_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_7_bar__minus_2_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 CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 CellPhoneType)\n (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType)\n (objectType Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 PencilType)\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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 BookType)\n (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType)\n (objectType Book_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType)\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 Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 PencilType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType)\n (objectType KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType)\n (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 PenType)\n (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 CreditCardType)\n (objectType Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 PenType)\n (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_43 PillowType)\n (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType)\n (objectType Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46 MugType)\n (objectType Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 MugType)\n (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType)\n (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType)\n (objectType CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 CDType)\n (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 CellPhoneType)\n (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType)\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__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55)\n (pickupable Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55)\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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76)\n (pickupable Book_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_21)\n (pickupable Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33)\n (pickupable KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38)\n (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68)\n (pickupable CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60)\n (pickupable Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42)\n (pickupable Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_43)\n (pickupable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46)\n (pickupable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (pickupable CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60)\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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60)\n (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68)\n (pickupable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (isReceptacleObject Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46)\n (isReceptacleObject Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04)\n (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\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_7_bar__minus_2_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46)\n (cleanable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n \n (heatable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46)\n (heatable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n (coolable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46)\n (coolable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91)\n (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07)\n \n \n \n \n \n \n \n (inReceptacle Pillow_bar__plus_00_dot_25_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 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 Book_bar__minus_00_dot_48_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 Pen_bar__minus_00_dot_43_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 Mug_bar__plus_00_dot_03_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_28_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83)\n (inReceptacle CD_bar__plus_00_dot_03_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_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 CellPhone_bar__plus_00_dot_19_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 Book_bar__minus_00_dot_12_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__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 Mug_bar__minus_00_dot_59_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 KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39)\n (inReceptacle Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 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_46 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47)\n (inReceptacle Pencil_bar__plus_01_dot_11_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 (inReceptacle CellPhone_bar__plus_01_dot_00_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 \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_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\n (objectAtLocation KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar_5_bar__minus_6_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45)\n (objectAtLocation Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 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_48_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__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 Pillow_bar__plus_00_dot_25_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__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar_8_bar__minus_8_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_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_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45)\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__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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 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_46 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 (?o1 - object)\n (and\n (objectType ?o1 CreditCardType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 CreditCardType)\n (receptacleType ?r DiningTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to sidetable 1", "take creditcard 1 from sidetable 1", "go to diningtable 1", "move creditcard 1 to diningtable 1", "go to drawer 4", "take creditcard 2 from sidetable 2", "go to diningtable 1", "move creditcard 2 to diningtable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c7b4d7711b2c2608c080ba024b0e3d3e4c14d6cc --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-CreditCard-None-DiningTable-329/trial_T20190918_154254_505630/initial_state.pddl @@ -0,0 +1,502 @@ + +(define (problem plan_trial_T20190918_154254_505630) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_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__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + Book_bar__minus_00_dot_48_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_00_dot_60 - object + CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 - object + CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 - object + CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 - object + CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 - object + KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 - object + KeyChain_bar__plus_01_dot_08_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__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__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 - object + Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 - object + Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46 - object + Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 - object + Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 - object + Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 - object + Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 - object + Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 - object + Pillow_bar__plus_00_dot_25_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_7_bar__minus_2_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 CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 CellPhoneType) + (objectType Painting_bar__plus_00_dot_00_bar__plus_01_dot_56_bar__minus_02_dot_69 PaintingType) + (objectType Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 PencilType) + (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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 BookType) + (objectType KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76 KeyChainType) + (objectType Book_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_21 BookType) + (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 Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 PencilType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_01_dot_34 BlindsType) + (objectType KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 KeyChainType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_00_dot_06 WindowType) + (objectType Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 PenType) + (objectType CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 CreditCardType) + (objectType Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 PenType) + (objectType Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_43 PillowType) + (objectType Window_bar__minus_01_dot_56_bar__plus_01_dot_42_bar__minus_01_dot_36 WindowType) + (objectType Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46 MugType) + (objectType Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 MugType) + (objectType Blinds_bar__minus_01_dot_46_bar__plus_02_dot_16_bar__minus_00_dot_05 BlindsType) + (objectType CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 CDType) + (objectType CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 CDType) + (objectType CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 CellPhoneType) + (objectType Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 MugType) + (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__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55) + (pickupable Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55) + (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 Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable KeyChain_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_76) + (pickupable Book_bar__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_21) + (pickupable Pencil_bar__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33) + (pickupable KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38) + (pickupable Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68) + (pickupable CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60) + (pickupable Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42) + (pickupable Pillow_bar__plus_00_dot_25_bar__plus_00_dot_65_bar__minus_01_dot_43) + (pickupable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46) + (pickupable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (pickupable CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07) + (pickupable CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60) + (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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60) + (pickupable CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68) + (pickupable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (isReceptacleObject Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46) + (isReceptacleObject Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (isReceptacleObject Box_bar__plus_02_dot_45_bar__plus_00_dot_22_bar__minus_00_dot_04) + (isReceptacleObject Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (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_7_bar__minus_2_bar_2_bar_30) + + (cleanable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46) + (cleanable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (cleanable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + + (heatable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46) + (heatable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (heatable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + (coolable Mug_bar__minus_01_dot_03_bar__plus_00_dot_67_bar__minus_02_dot_46) + (coolable Mug_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91) + (coolable Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07) + + + + + + + + (inReceptacle Pillow_bar__plus_00_dot_25_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 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 Book_bar__minus_00_dot_48_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 Pen_bar__minus_00_dot_43_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) + (inReceptacle Mug_bar__plus_00_dot_03_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_28_bar__plus_00_dot_62_bar__plus_01_dot_07 DiningTable_bar__minus_00_dot_28_bar__minus_00_dot_01_bar__plus_00_dot_83) + (inReceptacle CD_bar__plus_00_dot_03_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 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 CellPhone_bar__plus_00_dot_19_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 Book_bar__minus_00_dot_12_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__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 Mug_bar__minus_00_dot_59_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 KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 Drawer_bar__plus_01_dot_00_bar__plus_00_dot_46_bar__minus_02_dot_39) + (inReceptacle Pen_bar__minus_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 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_46 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 SideTable_bar__minus_01_dot_20_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 SideTable_bar__plus_01_dot_00_bar__plus_00_dot_01_bar__minus_02_dot_47) + (inReceptacle Pencil_bar__plus_01_dot_11_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) + (inReceptacle CellPhone_bar__plus_01_dot_00_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) + + + (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_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_91 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CD_bar__minus_00_dot_28_bar__plus_00_dot_62_bar__plus_01_dot_07 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pen_bar__minus_00_dot_43_bar__plus_00_dot_63_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation CreditCard_bar__plus_01_dot_17_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_00_dot_19_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Pencil_bar__minus_01_dot_14_bar__plus_00_dot_69_bar__minus_02_dot_55 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (objectAtLocation KeyChain_bar__plus_01_dot_08_bar__plus_00_dot_38_bar__minus_02_dot_38 loc_bar_5_bar__minus_6_bar_2_bar_60) + (objectAtLocation Book_bar__minus_00_dot_12_bar__plus_00_dot_62_bar__plus_00_dot_68 loc_bar__minus_2_bar__minus_2_bar_0_bar_45) + (objectAtLocation Mug_bar__minus_00_dot_59_bar__plus_00_dot_62_bar__plus_01_dot_07 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__minus_00_dot_48_bar__plus_00_dot_56_bar__minus_01_dot_21 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 Pillow_bar__plus_00_dot_25_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__plus_01_dot_11_bar__plus_00_dot_68_bar__minus_02_dot_33 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation CellPhone_bar__plus_01_dot_00_bar__plus_00_dot_68_bar__minus_02_dot_55 loc_bar_8_bar__minus_8_bar_3_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_20_bar__plus_00_dot_68_bar__minus_02_dot_60 loc_bar__minus_4_bar__minus_2_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_01_dot_32_bar__plus_00_dot_69_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_2_bar_2_bar_45) + (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__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 CD_bar__plus_00_dot_03_bar__plus_00_dot_62_bar__plus_00_dot_60 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_46 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 - 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"pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_3DY4FPOOA4F1XNZPHN28P284BHFRVR", + "high_descs": [ + "Turn and go to the nightstand.", + "Pick up a credit card on the nightstand. ", + "Turn and go to the table.", + "Put the credit card on the table.", + "Turn right and go to the nightstand.", + "Pick up a credit card on the nightstand. ", + "Turn and go to the table.", + "Put the credit card on the table." + ], + "task_desc": "Move two credit cards to the table. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3P1L2B7AD4GV45VFBRJY8Y5X9WUOLX", + "high_descs": [ + "Turn right and walk over to the wall, then hang a left and walk up to the nightstand.", + "Pick up the credit card off of the night stand.", + "Turn around and walk over to the table against the wall.", + "Put the credit card on the front edge of the table.", + "Turn right and walk towards the wall, then hang a right and walk over to the nightstand to the left of the bed.", + "Pick up the credit card off of the nightstand.", + "Turn around and walk towards the door, then hang a left and begin walking across the room, then turn right to face the table.", + "Put the credit card on the front edge of the table in front of you." + ], + "task_desc": "Move two credit cards to a table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3WYP994K1AIPFYWAUAMUL6L2XB36YH", + "high_descs": [ + "walk to face night table to right of bed", + "pick up credit card from night table", + "turn around face desk at foot of bed", + "put credit card on desk", + "walk to face night table on left side of bed", + "pick up credit card from night table", + "walk to face desk at foot of bed", + "put credit card on desk" + ], + "task_desc": "put two credit cards on desk", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f469f50bdb13430d96c50fcac714160c4f11526f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/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 handtowel and put them in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_054016_180537)\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__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 - object\n Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 - object\n Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object\n Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object\n LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object\n Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object\n Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object\n ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object\n ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object\n ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object\n SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 - object\n SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 - object\n SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 - object\n SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 - object\n SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 - object\n SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 - object\n ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 - object\n ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 - object\n ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 - object\n Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 - object\n CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle\n GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle\n Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle\n TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle\n TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar_14_bar_1_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_60 - location\n loc_bar__minus_1_bar_14_bar_1_bar_0 - location\n loc_bar__minus_3_bar_9_bar_1_bar_60 - location\n loc_bar__minus_1_bar_11_bar_1_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_30 - location\n loc_bar__minus_1_bar_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar_7_bar_2_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_0 - location\n loc_bar__minus_2_bar_7_bar_1_bar_15 - location\n loc_bar__minus_5_bar_13_bar_3_bar_30 - location\n loc_bar__minus_2_bar_12_bar_1_bar_45 - location\n loc_bar__minus_1_bar_11_bar_1_bar_45 - location\n loc_bar__minus_3_bar_11_bar_1_bar_45 - location\n loc_bar__minus_2_bar_8_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType)\n (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType)\n (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType)\n (objectType SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 SoapBarType)\n (objectType SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 SoapBottleType)\n (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType)\n (objectType Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 ClothType)\n (objectType SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 SprayBottleType)\n (objectType ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 ToiletPaperType)\n (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType)\n (objectType Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelType)\n (objectType SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 SprayBottleType)\n (objectType SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 SoapBarType)\n (objectType ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 ToiletPaperType)\n (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType)\n (objectType ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 ToiletPaperType)\n (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType)\n (objectType Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 CandleType)\n (objectType SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 SprayBottleType)\n (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (pickupable SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23)\n (pickupable SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53)\n (pickupable Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11)\n (pickupable SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27)\n (pickupable ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16)\n (pickupable Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28)\n (pickupable SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80)\n (pickupable SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70)\n (pickupable ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40)\n (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89)\n (pickupable ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24)\n (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56)\n (pickupable Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27)\n (pickupable SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34)\n \n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n \n (atLocation agent1 loc_bar__minus_2_bar_8_bar_1_bar_30)\n \n (cleanable SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23)\n (cleanable Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11)\n (cleanable SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82)\n (inReceptacle ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n (inReceptacle ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56)\n (inReceptacle ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (inReceptacle SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46)\n (inReceptacle SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46)\n \n \n (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 loc_bar__minus_2_bar_13_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (objectAtLocation SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (objectAtLocation SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (objectAtLocation Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to handtowelholder 1", "take handtowel 1 from handtowelholder 1", "go to toilet 1", "move handtowel 1 to toilet 1", "go to handtowelholder 2", "take handtowel 2 from handtowelholder 2", "go to toilet 1", "move handtowel 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..6781c623d3d12f4f6b22407f5dfc147552b21206 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/initial_state.pddl @@ -0,0 +1,483 @@ + +(define (problem plan_trial_T20190909_054016_180537) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 - object + Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 - object + Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object + Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object + LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object + Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object + Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object + ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object + ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object + ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object + SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 - object + SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 - object + SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 - object + SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 - object + SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 - object + SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 - object + ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 - object + ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 - object + ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 - object + Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 - object + CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle + GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle + Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle + TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle + TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar_14_bar_1_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_60 - location + loc_bar__minus_1_bar_14_bar_1_bar_0 - location + loc_bar__minus_3_bar_9_bar_1_bar_60 - location + loc_bar__minus_1_bar_11_bar_1_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_30 - location + loc_bar__minus_1_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar_13_bar_1_bar_60 - location + loc_bar__minus_4_bar_7_bar_2_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_0 - location + loc_bar__minus_2_bar_7_bar_1_bar_15 - location + loc_bar__minus_5_bar_13_bar_3_bar_30 - location + loc_bar__minus_2_bar_12_bar_1_bar_45 - location + loc_bar__minus_1_bar_11_bar_1_bar_45 - location + loc_bar__minus_3_bar_11_bar_1_bar_45 - location + loc_bar__minus_2_bar_8_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType) + (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType) + (objectType SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 SoapBarType) + (objectType SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 SoapBottleType) + (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType) + (objectType Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 ClothType) + (objectType SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 SprayBottleType) + (objectType ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 ToiletPaperType) + (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType) + (objectType Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelType) + (objectType SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 SprayBottleType) + (objectType SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 SoapBarType) + (objectType ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 ToiletPaperType) + (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType) + (objectType ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 ToiletPaperType) + (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType) + (objectType Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 CandleType) + (objectType SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 SprayBottleType) + (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType) + (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (pickupable SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23) + (pickupable SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53) + (pickupable Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11) + (pickupable SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27) + (pickupable ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16) + (pickupable Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28) + (pickupable SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80) + (pickupable SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70) + (pickupable ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40) + (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89) + (pickupable ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24) + (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56) + (pickupable Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27) + (pickupable SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34) + + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + + (atLocation agent1 loc_bar__minus_2_bar_8_bar_1_bar_30) + + (cleanable SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23) + (cleanable Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11) + (cleanable SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70) + + + + + + + + + + + (inReceptacle SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82) + (inReceptacle ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + (inReceptacle ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56) + (inReceptacle ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46) + (inReceptacle SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46) + (inReceptacle SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46) + + + (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SprayBottle_bar__plus_00_dot_54_bar__plus_00_dot_21_bar__plus_03_dot_80 loc_bar__minus_2_bar_13_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_66_bar__plus_01_dot_04_bar__plus_01_dot_40 loc_bar__minus_3_bar_9_bar_1_bar_60) + (objectAtLocation SoapBar_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (objectAtLocation SprayBottle_bar__plus_00_dot_56_bar__plus_01_dot_05_bar__plus_01_dot_34 loc_bar__minus_3_bar_9_bar_1_bar_60) + (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__plus_00_dot_62_bar__plus_01_dot_05_bar__plus_01_dot_53 loc_bar__minus_3_bar_9_bar_1_bar_60) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (objectAtLocation Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SoapBar_bar__plus_00_dot_44_bar__plus_00_dot_68_bar__plus_02_dot_70 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_24 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_56_bar__plus_00_dot_21_bar__plus_02_dot_16 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_59_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_11 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..e27c5d0733ac9a27f42d1977792e52636ceb5e32 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054016_180537/traj_data.json @@ -0,0 +1,4938 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + 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"objectName": "Plunger_17d994b3", + "position": { + "x": 0.5940484, + "y": -0.0002968982, + "z": 1.89854741 + }, + "rotation": { + "x": -0.00118541578, + "y": 0.0004420988, + "z": 0.0007844724 + } + }, + { + "objectName": "SprayBottle_d5e13b2f", + "position": { + "x": 0.536722, + "y": 0.208907917, + "z": 3.803755 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2263085576, + "scene_num": 409 + }, + "task_id": "trial_T20190909_054016_180537", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3SFPSMFRSRTB3_3IJXV6UZ10AWBHFPIG3PADIA3I2IRA", + "high_descs": [ + "Proceed ahead to counter.", + "Remove towel from towel holder to the right of the mirror.", + "Turn left, proceed to sink on right. Turn right to face sink and counter.", + "Put the towel on the left portion of the back of the toilet, to the left of pump dispenser.", + "Turn left, move to end of counter. Turn right to face towel hanging.", + "Pick up towel hanging on wall.", + "Turn right, go to end of counter past sink. Turn left to face counter area.", + "Place towel on back of towel, directly to the right of the other towel." + ], + "task_desc": "Remove two towels from wall and place on back of toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3PPLDHC3CG0YN_3NL0RFNU0IEGG63F77SOF0MD385K42", + "high_descs": [ + "Look up at the towel to the right of the mirror. ", + "Pick up the towel from the towel holder. ", + "Turn to face the back of the toilet. ", + "Put the towel down on the back of the toilet. ", + "Walk to the other side of the mirror. ", + "Pick up the towel to the left of the mirror. ", + "Walk back over to the back of the toilet. ", + "Put the towel down on the back of the toilet to the right of the first one. " + ], + "task_desc": "To move two towels to the back of the toilet. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1CY7IOJ9YH136_3TE22NPXPE3V24ECMF588JXH6NK443", + "high_descs": [ + "look up to towel holder to the right of mirror", + "take white towel from towel holder", + "go to left side of toilet", + "place towel on left side of toilet", + "go to towel holder to the left of mirror", + "take white towel from towel holder", + "go to left side of toilet", + "place white towel to the right of towel on toilet" + ], + "task_desc": "place two white towels on toilet", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..8996658e9c0383f45dd4bd9df1cf292c402cbfbe --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/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 handtowel and put them in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_054134_111298)\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__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 - object\n Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 - object\n Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 - object\n Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 - object\n Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object\n Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object\n LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object\n Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object\n Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object\n ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object\n ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object\n ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object\n SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 - object\n SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 - object\n SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 - object\n SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 - object\n SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 - object\n ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 - object\n ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 - object\n Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 - object\n Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 - object\n CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle\n GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle\n Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle\n TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle\n TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar_14_bar_1_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_60 - location\n loc_bar__minus_1_bar_14_bar_1_bar_0 - location\n loc_bar__minus_3_bar_9_bar_1_bar_60 - location\n loc_bar__minus_1_bar_11_bar_1_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_30 - location\n loc_bar__minus_1_bar_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar_7_bar_2_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_0 - location\n loc_bar__minus_2_bar_7_bar_1_bar_15 - location\n loc_bar__minus_5_bar_13_bar_3_bar_30 - location\n loc_bar__minus_2_bar_12_bar_1_bar_45 - location\n loc_bar__minus_1_bar_11_bar_1_bar_45 - location\n loc_bar__minus_3_bar_11_bar_1_bar_45 - location\n loc_bar__minus_6_bar_6_bar_1_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType)\n (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType)\n (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType)\n (objectType ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 ToiletPaperType)\n (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType)\n (objectType SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 SoapBarType)\n (objectType SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 SoapBarType)\n (objectType SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 SoapBottleType)\n (objectType SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType)\n (objectType SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 SprayBottleType)\n (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType)\n (objectType Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelType)\n (objectType Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 CandleType)\n (objectType Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 ClothType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType)\n (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType)\n (objectType ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 ToiletPaperType)\n (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType)\n (objectType Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 ClothType)\n (objectType Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelType)\n (objectType Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 ClothType)\n (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (pickupable ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17)\n (pickupable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90)\n (pickupable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27)\n (pickupable SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42)\n (pickupable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86)\n (pickupable SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12)\n (pickupable Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28)\n (pickupable Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23)\n (pickupable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89)\n (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73)\n (pickupable ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91)\n (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56)\n (pickupable Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33)\n (pickupable Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58)\n (pickupable Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16)\n \n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n \n (atLocation agent1 loc_bar__minus_6_bar_6_bar_1_bar_30)\n \n (cleanable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90)\n (cleanable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27)\n (cleanable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86)\n (cleanable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35)\n (cleanable Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33)\n (cleanable Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n (inReceptacle ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94)\n (inReceptacle SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58)\n (inReceptacle Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56)\n \n \n (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (objectAtLocation SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15)\n (objectAtLocation SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 loc_bar__minus_3_bar_14_bar_1_bar_45)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (objectAtLocation Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 loc_bar__minus_1_bar_11_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to handtowelholder 1", "take handtowel 1 from handtowelholder 1", "go to toilet 1", "move handtowel 1 to toilet 1", "go to handtowelholder 2", "take handtowel 2 from handtowelholder 2", "go to toilet 1", "move handtowel 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..355f5330aa4dda43ca7500759004371473b9ae2f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/initial_state.pddl @@ -0,0 +1,490 @@ + +(define (problem plan_trial_T20190909_054134_111298) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 - object + Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 - object + Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 - object + Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 - object + Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object + Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object + LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object + Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object + Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object + ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object + ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object + ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object + SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 - object + SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 - object + SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 - object + SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 - object + SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 - object + ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 - object + ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 - object + Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 - object + Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 - object + CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle + GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle + Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle + TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle + TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar_14_bar_1_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_60 - location + loc_bar__minus_1_bar_14_bar_1_bar_0 - location + loc_bar__minus_3_bar_9_bar_1_bar_60 - location + loc_bar__minus_1_bar_11_bar_1_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_30 - location + loc_bar__minus_1_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar_13_bar_1_bar_60 - location + loc_bar__minus_4_bar_7_bar_2_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_0 - location + loc_bar__minus_2_bar_7_bar_1_bar_15 - location + loc_bar__minus_5_bar_13_bar_3_bar_30 - location + loc_bar__minus_2_bar_12_bar_1_bar_45 - location + loc_bar__minus_1_bar_11_bar_1_bar_45 - location + loc_bar__minus_3_bar_11_bar_1_bar_45 - location + loc_bar__minus_6_bar_6_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType) + (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType) + (objectType ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 ToiletPaperType) + (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType) + (objectType SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 SoapBarType) + (objectType SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 SoapBarType) + (objectType SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 SoapBottleType) + (objectType SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType) + (objectType SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 SprayBottleType) + (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType) + (objectType Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelType) + (objectType Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 CandleType) + (objectType Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 ClothType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType) + (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType) + (objectType ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 ToiletPaperType) + (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType) + (objectType Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 ClothType) + (objectType Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelType) + (objectType Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 ClothType) + (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType) + (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (pickupable ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17) + (pickupable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90) + (pickupable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27) + (pickupable SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42) + (pickupable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86) + (pickupable SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12) + (pickupable Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28) + (pickupable Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23) + (pickupable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89) + (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73) + (pickupable ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91) + (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56) + (pickupable Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33) + (pickupable Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58) + (pickupable Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16) + + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + + (atLocation agent1 loc_bar__minus_6_bar_6_bar_1_bar_30) + + (cleanable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90) + (cleanable SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27) + (cleanable SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86) + (cleanable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35) + (cleanable Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33) + (cleanable Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16) + + + + + + + + + + + (inReceptacle Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + (inReceptacle ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94) + (inReceptacle SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58) + (inReceptacle Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56) + + + (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_35 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_03_dot_27 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation Towel_bar__minus_00_dot_44_bar__plus_01_dot_38_bar__plus_01_dot_28 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (objectAtLocation SoapBar_bar__plus_00_dot_52_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_52_bar__plus_00_dot_82_bar__plus_02_dot_33 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15) + (objectAtLocation SoapBar_bar__plus_00_dot_28_bar__plus_00_dot_21_bar__plus_02_dot_90 loc_bar__minus_3_bar_14_bar_1_bar_45) + (objectAtLocation ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_31_bar__plus_00_dot_62_bar__plus_01_dot_91 loc_bar__minus_1_bar_8_bar_1_bar_60) + (objectAtLocation Candle_bar__plus_00_dot_61_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_50_bar__plus_00_dot_22_bar__plus_02_dot_16 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_38_bar__plus_00_dot_81_bar__plus_02_dot_12 loc_bar__minus_1_bar_11_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..655cf92b0e1b3387dbe5202657faed86cb7ca000 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_054134_111298/traj_data.json @@ -0,0 +1,5183 @@ +{ + "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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0.2784713, + "y": 0.21080032, + "z": 3.27197933 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_5db3475e", + "position": { + "x": 0.3618, + "y": 0.504500031, + "z": 2.1744 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ToiletPaper_321c92a6", + "position": { + "x": 0.308799922, + "y": 0.6156, + "z": 1.91230011 + }, + "rotation": { + "x": 0.0, + "y": 180.000015, + "z": 90.0 + } + }, + { + "objectName": "Candle_0bc9cce6", + "position": { + "x": 0.6147075, + "y": 0.2130247, + "z": 3.23184156 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ScrubBrush_b98b86ba", + "position": { + "x": 0.5530571, + "y": 0.000166088343, + "z": 1.725937 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Cloth_0a396f26", + "position": { + "x": 0.4465894, + "y": 0.216620177, + "z": 3.35225534 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Plunger_17d994b3", + "position": { + "x": 0.5940484, + "y": -0.0002968982, + "z": 1.89854741 + }, + "rotation": { + "x": -0.00118541578, + "y": 0.0004420988, + "z": 0.0007844724 + } + }, + { + "objectName": "SprayBottle_d5e13b2f", + "position": { + "x": 0.384908319, + "y": 0.810402453, + "z": 2.1240356 + }, + "rotation": { + "x": 0.0, + "y": 327.500519, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 3031088216, + "scene_num": 409 + }, + "task_id": "trial_T20190909_054134_111298", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A20FCMWP43CVIU_32UTUBMZ7JNEHGI0LQGIPN30TZRVB5", + "high_descs": [ + "walk to face round towel rack between sink and toilet", + "take off towel from rack", + "step back to face toilet", + "put towel on toilet tank top", + "turn left to face round towel rack to the left of the sink", + "take off towel from rack", + "turn to walk right to face toilet", + "put towel on toilet tank top" + ], + "task_desc": "put two towels on toilet tank top", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_39ASUFLU60Y4S8ZFVWJQEG66C7DEXS", + "high_descs": [ + "Turn left and walk forward, then turn right and walk over to the counter.", + "Take the wash cloth off of the metal ring to the right of the mirror.", + "Turn around and walk towards the wall, then turn right and take a step forward, turn right again to face the counter.", + "Put the wash cloth on top of the toilet tank to your right.", + "Turn left and walk over to the wall, then turn right and walk up to the counter.", + "Pick up the wash cloth that is on the metal ring to the left of the mirror.", + "Turn around and walk forward, then hang a left and walk forward, turn left to face the right end of the counter.", + "Put the wash cloth on the top of the toilet tank." + ], + "task_desc": "Move two wash cloths to the toilet tank.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2RVDEU138ZF9P_3NS0A6KXC7ZRHHVL29XZB47TXMUZGT", + "high_descs": [ + "Walk forward towards the white towel on the wall.", + "Pick up the white towel from the handle.", + "Turn around and walk towards the toilet. ", + "Place the white towel on the toilet cover. ", + "Turn left and move forwards then left towards the white towel.", + "Pick up the white towel from the golden handle. ", + "Turn right and walk towards the sink.", + "Place the white towel on the toilet cover to the right of the first towel. " + ], + "task_desc": "Place the two hand towel on the toilet cover. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..a938c51c44dea3de8c0d4c49b8eb635e8e817ebb --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/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 handtowel and put them in toilet.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_081043_762420)\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__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 - object\n Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 - object\n Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 - object\n Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 - object\n Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object\n Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object\n HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object\n LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object\n Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object\n Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object\n ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object\n ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object\n ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object\n SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 - object\n SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 - object\n SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 - object\n SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 - object\n SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 - object\n ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 - object\n ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 - object\n Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 - object\n CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle\n Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle\n GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle\n HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle\n Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle\n Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle\n TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle\n TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_1_bar_45 - location\n loc_bar__minus_2_bar_7_bar_1_bar_60 - location\n loc_bar__minus_3_bar_14_bar_1_bar_45 - location\n loc_bar__minus_1_bar_10_bar_1_bar_60 - location\n loc_bar__minus_1_bar_14_bar_1_bar_0 - location\n loc_bar__minus_3_bar_9_bar_1_bar_60 - location\n loc_bar__minus_1_bar_11_bar_1_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_30 - location\n loc_bar__minus_1_bar_8_bar_1_bar_60 - location\n loc_bar__minus_2_bar_13_bar_1_bar_60 - location\n loc_bar__minus_4_bar_7_bar_2_bar_45 - location\n loc_bar__minus_1_bar_8_bar_1_bar_0 - location\n loc_bar__minus_2_bar_7_bar_1_bar_15 - location\n loc_bar__minus_5_bar_13_bar_3_bar_30 - location\n loc_bar__minus_2_bar_12_bar_1_bar_45 - location\n loc_bar__minus_1_bar_11_bar_1_bar_45 - location\n loc_bar__minus_3_bar_11_bar_1_bar_45 - location\n loc_bar__minus_3_bar_7_bar_3_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType)\n (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType)\n (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType)\n (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType)\n (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType)\n (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType)\n (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType)\n (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType)\n (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType)\n (objectType Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 ClothType)\n (objectType ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 ToiletPaperType)\n (objectType ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 ToiletPaperType)\n (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType)\n (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType)\n (objectType Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 CandleType)\n (objectType SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 SoapBottleType)\n (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType)\n (objectType SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType)\n (objectType SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 SprayBottleType)\n (objectType SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType)\n (objectType Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 CandleType)\n (objectType Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 CandleType)\n (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType)\n (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType)\n (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType)\n (objectType Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelType)\n (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType)\n (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType)\n (objectType SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 SprayBottleType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain DrawerType CandleType)\n (canContain DrawerType SoapBarType)\n (canContain DrawerType SprayBottleType)\n (canContain DrawerType ToiletPaperType)\n (canContain DrawerType SoapBottleType)\n (canContain DrawerType ClothType)\n (canContain DrawerType HandTowelType)\n (canContain TowelHolderType TowelType)\n (canContain TowelHolderType TowelType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (pickupable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27)\n (pickupable ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23)\n (pickupable ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17)\n (pickupable Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27)\n (pickupable SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42)\n (pickupable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86)\n (pickupable SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24)\n (pickupable SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86)\n (pickupable Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11)\n (pickupable Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06)\n (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89)\n (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90)\n (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56)\n (pickupable Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58)\n (pickupable SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24)\n \n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19)\n (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19)\n \n (atLocation agent1 loc_bar__minus_3_bar_7_bar_3_bar_30)\n \n (cleanable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27)\n (cleanable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86)\n (cleanable SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19)\n (inReceptacle SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76)\n (inReceptacle Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94)\n (inReceptacle Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31)\n (inReceptacle Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58)\n (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89)\n (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56)\n \n \n (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45)\n (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15)\n (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0)\n (objectAtLocation Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 loc_bar__minus_3_bar_14_bar_1_bar_45)\n (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45)\n (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15)\n (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30)\n (objectAtLocation SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0)\n (objectAtLocation Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15)\n (objectAtLocation SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 loc_bar__minus_2_bar_10_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30)\n (objectAtLocation ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45)\n (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60)\n (objectAtLocation Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 loc_bar__minus_3_bar_11_bar_1_bar_45)\n (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60)\n (objectAtLocation SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 loc_bar__minus_1_bar_11_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 HandTowelType)\n (receptacleType ?r ToiletType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to handtowelholder 1", "take handtowel 1 from handtowelholder 1", "go to toilet 1", "move handtowel 1 to toilet 1", "go to handtowelholder 2", "take handtowel 2 from handtowelholder 2", "go to toilet 1", "move handtowel 2 to toilet 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..3b1b2ade5872e37b4e9f26017c8ecdb809f73ba3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/initial_state.pddl @@ -0,0 +1,483 @@ + +(define (problem plan_trial_T20190909_081043_762420) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 - object + Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 - object + Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 - object + Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 - object + Faucet_bar__plus_00_dot_72_bar__plus_00_dot_98_bar__plus_02_dot_76 - object + Faucet_bar__minus_01_dot_71_bar__plus_01_dot_89_bar__plus_00_dot_59 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 - object + HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 - object + LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 - object + Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 - object + Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 - object + ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 - object + ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 - object + ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 - object + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 - object + SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 - object + SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 - object + SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 - object + SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 - object + SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 - object + ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 - object + ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 - object + Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 - object + CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 - receptacle + Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 - receptacle + GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 - receptacle + HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 - receptacle + Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 - receptacle + Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 - receptacle + TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 - receptacle + TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 - receptacle + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_1_bar_45 - location + loc_bar__minus_2_bar_7_bar_1_bar_60 - location + loc_bar__minus_3_bar_14_bar_1_bar_45 - location + loc_bar__minus_1_bar_10_bar_1_bar_60 - location + loc_bar__minus_1_bar_14_bar_1_bar_0 - location + loc_bar__minus_3_bar_9_bar_1_bar_60 - location + loc_bar__minus_1_bar_11_bar_1_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_30 - location + loc_bar__minus_1_bar_8_bar_1_bar_60 - location + loc_bar__minus_2_bar_13_bar_1_bar_60 - location + loc_bar__minus_4_bar_7_bar_2_bar_45 - location + loc_bar__minus_1_bar_8_bar_1_bar_0 - location + loc_bar__minus_2_bar_7_bar_1_bar_15 - location + loc_bar__minus_5_bar_13_bar_3_bar_30 - location + loc_bar__minus_2_bar_12_bar_1_bar_45 - location + loc_bar__minus_1_bar_11_bar_1_bar_45 - location + loc_bar__minus_3_bar_11_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_3_bar_30 - location + ) + + +(:init + + + (receptacleType ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 ToiletPaperHangerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 HandTowelHolderType) + (receptacleType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin SinkBasinType) + (receptacleType Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 ToiletType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 DrawerType) + (receptacleType HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 HandTowelHolderType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 DrawerType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 DrawerType) + (receptacleType CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 CounterTopType) + (receptacleType Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 DrawerType) + (receptacleType TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 TowelHolderType) + (receptacleType TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 TowelHolderType) + (receptacleType GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 GarbageCanType) + (objectType Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 ClothType) + (objectType ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 ToiletPaperType) + (objectType ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 ToiletPaperType) + (objectType ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 ShowerDoorType) + (objectType Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 MirrorType) + (objectType Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 CandleType) + (objectType SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 SoapBottleType) + (objectType ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 ShowerGlassType) + (objectType SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType) + (objectType SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 SprayBottleType) + (objectType SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 SoapBarType) + (objectType Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 CandleType) + (objectType Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 CandleType) + (objectType ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 ScrubBrushType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelType) + (objectType Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 PlungerType) + (objectType HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelType) + (objectType Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelType) + (objectType LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 LightSwitchType) + (objectType Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 SinkType) + (objectType SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 SprayBottleType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain HandTowelHolderType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain DrawerType CandleType) + (canContain DrawerType SoapBarType) + (canContain DrawerType SprayBottleType) + (canContain DrawerType ToiletPaperType) + (canContain DrawerType SoapBottleType) + (canContain DrawerType ClothType) + (canContain DrawerType HandTowelType) + (canContain TowelHolderType TowelType) + (canContain TowelHolderType TowelType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (pickupable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27) + (pickupable ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23) + (pickupable ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17) + (pickupable Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27) + (pickupable SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42) + (pickupable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86) + (pickupable SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24) + (pickupable SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86) + (pickupable Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11) + (pickupable Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06) + (pickupable ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89) + (pickupable Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90) + (pickupable HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56) + (pickupable Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58) + (pickupable SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24) + + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19) + (openable Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19) + + (atLocation agent1 loc_bar__minus_3_bar_7_bar_3_bar_30) + + (cleanable Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27) + (cleanable SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86) + (cleanable SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86) + + + + + + + + + + + (inReceptacle ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19) + (inReceptacle SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76) + (inReceptacle Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94) + (inReceptacle Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31) + (inReceptacle Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58) + (inReceptacle Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89) + (inReceptacle HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56) + + + (receptacleAtLocation CounterTop_bar__plus_00_dot_46_bar__plus_00_dot_79_bar__plus_02_dot_76 loc_bar__minus_1_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_19 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_57 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_02_dot_94 loc_bar__minus_3_bar_14_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_32_bar__plus_03_dot_31 loc_bar__minus_3_bar_11_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_02_dot_19 loc_bar__minus_2_bar_10_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_44_bar__plus_00_dot_62_bar__plus_03_dot_31 loc_bar__minus_2_bar_12_bar_1_bar_45) + (receptacleAtLocation GarbageCan_bar__plus_00_dot_50_bar__plus_00_dot_00_bar__plus_03_dot_82 loc_bar__minus_2_bar_13_bar_1_bar_60) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (receptacleAtLocation HandTowelHolder_bar__plus_00_dot_67_bar__plus_01_dot_61_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (receptacleAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76_bar_SinkBasin loc_bar__minus_1_bar_10_bar_1_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__plus_00_dot_38_bar__plus_00_dot_65_bar__plus_02_dot_01 loc_bar__minus_1_bar_8_bar_1_bar_60) + (receptacleAtLocation Toilet_bar__plus_00_dot_27_bar__plus_00_dot_00_bar__plus_01_dot_46 loc_bar__minus_3_bar_9_bar_1_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_72_bar__plus_01_dot_36_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15) + (receptacleAtLocation TowelHolder_bar__minus_00_dot_44_bar__plus_01_dot_36_bar__plus_01_dot_18 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SprayBottle_bar__plus_00_dot_26_bar__plus_00_dot_82_bar__plus_03_dot_24 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_46_bar__plus_00_dot_82_bar__plus_02_dot_11 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation SoapBar_bar__plus_00_dot_48_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_01_dot_89 loc_bar__minus_1_bar_8_bar_1_bar_0) + (objectAtLocation Candle_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_06 loc_bar__minus_3_bar_14_bar_1_bar_45) + (objectAtLocation ShowerDoor_bar__minus_00_dot_92_bar__plus_01_dot_03_bar__plus_01_dot_16 loc_bar__minus_4_bar_7_bar_2_bar_45) + (objectAtLocation Sink_bar__plus_00_dot_50_bar__plus_00_dot_66_bar__plus_02_dot_76 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation Mirror_bar__plus_00_dot_63_bar__plus_01_dot_53_bar__plus_02_dot_70 loc_bar__minus_1_bar_11_bar_1_bar_15) + (objectAtLocation ShowerGlass_bar__minus_00_dot_15_bar__plus_01_dot_27_bar__plus_01_dot_16 loc_bar__minus_2_bar_7_bar_2_bar_30) + (objectAtLocation SoapBottle_bar__plus_00_dot_60_bar__plus_00_dot_81_bar__plus_03_dot_42 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation HandTowel_bar__plus_00_dot_63_bar__plus_01_dot_51_bar__plus_03_dot_56 loc_bar__minus_1_bar_14_bar_1_bar_0) + (objectAtLocation Towel_bar__plus_00_dot_61_bar__plus_01_dot_38_bar__plus_00_dot_58 loc_bar__minus_2_bar_7_bar_1_bar_15) + (objectAtLocation SoapBar_bar__plus_00_dot_36_bar__plus_00_dot_68_bar__plus_02_dot_86 loc_bar__minus_1_bar_10_bar_1_bar_60) + (objectAtLocation ToiletPaper_bar__plus_00_dot_36_bar__plus_00_dot_50_bar__plus_02_dot_17 loc_bar__minus_2_bar_10_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__minus_01_dot_75_bar__plus_01_dot_43_bar__plus_03_dot_33 loc_bar__minus_5_bar_13_bar_3_bar_30) + (objectAtLocation ToiletPaper_bar__plus_00_dot_33_bar__plus_00_dot_21_bar__plus_03_dot_23 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation Candle_bar__plus_00_dot_32_bar__plus_00_dot_82_bar__plus_02_dot_27 loc_bar__minus_1_bar_11_bar_1_bar_45) + (objectAtLocation ScrubBrush_bar__plus_00_dot_55_bar__plus_00_dot_00_bar__plus_01_dot_73 loc_bar__minus_2_bar_7_bar_1_bar_60) + (objectAtLocation Cloth_bar__plus_00_dot_45_bar__plus_00_dot_22_bar__plus_03_dot_27 loc_bar__minus_3_bar_11_bar_1_bar_45) + (objectAtLocation Plunger_bar__plus_00_dot_59_bar_00_dot_00_bar__plus_01_dot_90 loc_bar__minus_1_bar_8_bar_1_bar_60) + (objectAtLocation SprayBottle_bar__plus_00_dot_39_bar__plus_00_dot_82_bar__plus_03_dot_24 loc_bar__minus_1_bar_11_bar_1_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 HandTowelType) + (receptacleType ?r ToiletType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..646965e9bba9492d31e0c84deb9e4c2884854646 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-HandTowel-None-Toilet-409/trial_T20190909_081043_762420/traj_data.json @@ -0,0 +1,5085 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + 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"trial_T20190909_081043_762420", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A36A780ODXBDEH_30MVJZJNHP4M2S396HO3VTXGABYJ9D", + "high_descs": [ + "Turn around and face the area between the vanity and toilet.", + "Pick up the towel from the towel ring.", + "Step back a bit from the vanity and toilet.", + "Place the towel on the top of the toilet tank.", + "Turn left and go to the left hand side of the vanity.", + "Take the towel off the towel ring to the left of the mirror.", + "Turn right and go to face the toilet.", + "Place this towel on top of the toilet tank to the right of the other towel." + ], + "task_desc": "Place the two towels on the towel rings on top of the toilet tank.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_35K3O9HUAE4NSM8UV2D4896Z825EFP", + "high_descs": [ + "Walk over to the right side of the counter behind you and look up at the wall.", + "Take the wash cloth off the metal ring that is on the wall to the right of the mirror.", + "Turn around and walk forward, then turn right and take a step, turn right again to face the counter.", + "Put the wash cloth on top of the toilet tank.", + "Turn left and walk over to the wall, then turn right and walk up to the counter.", + "Take the wash cloth off of the metal ring that is on the wall to the left of the mirror.", + "Turn around and walk towards the wall, then hang a left and walk towards the shower, turn left to face the counter.", + "Put the wash cloth on top of the toilet tank next to the wash cloth that is already there." + ], + "task_desc": "Move two wash cloths to the top of the toilet tank.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_33IZTU6J84S52R4XWR3V3XALDXXXSL", + "high_descs": [ + "go to the sink", + "take the towel from the rack", + "approach the toilet", + "stand the towel on the back of the toilet", + "go to the left of the sink", + "take the towel from the rack above", + "take the towel to the toilet", + "stand the towel to the right of of the first towel on the back of the toilet" + ], + "task_desc": "put two towels on the back of the toilet", + "votes": [ + 0, + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..592134eb1a8fb26a6faaa6191eff6a922e962d46 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/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 keychain in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_034001_524438)\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_82_bar__plus_00_dot_98_bar__plus_01_dot_86 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 - object\n CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 - object\n CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_34 - object\n CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 - object\n CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 - object\n CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_25 - object\n CellPhone_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_32 - object\n CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 - object\n KeyChain_bar__minus_01_dot_47_bar__plus_00_dot_36_bar__minus_01_dot_25 - object\n KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 - object\n Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 - object\n Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_48 - object\n Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 - object\n Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_9_bar_1_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 PenType)\n (objectType Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 CellPhoneType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 PencilType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 KeyChainType)\n (objectType AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_98_bar__plus_01_dot_86 AlarmClockType)\n (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 PenType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_32 CreditCardType)\n (objectType CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_34 CDType)\n (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_48 PencilType)\n (objectType Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 LaptopType)\n (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 LaptopType)\n (objectType CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 CreditCardType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 KeyChainType)\n (objectType CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 CDType)\n (objectType CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 CreditCardType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType)\n (objectType Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 BookType)\n (objectType Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 PencilType)\n (objectType CellPhone_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 CellPhoneType)\n (objectType Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 MugType)\n (objectType CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 CDType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 PenType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 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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 BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29)\n (pickupable Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33)\n (pickupable CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56)\n (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15)\n (pickupable Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09)\n 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SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25)\n (inReceptacle KeyChain_bar__minus_01_dot_47_bar__plus_00_dot_36_bar__minus_01_dot_25 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25)\n (inReceptacle Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02)\n (inReceptacle Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_98_bar__plus_01_dot_86 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_34 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_32 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__minus_01_dot_47_bar__plus_00_dot_36_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_98_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 loc_bar_6_bar__minus_1_bar_1_bar_45)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take keychain 1 from armchair 1", "go to sidetable 1", "move keychain 1 to sidetable 1", "go to drawer 6", "take keychain 3 from drawer 6", "go to sidetable 1", "move keychain 3 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2f100d009450282a912f6ec902ead66f0a07b9e8 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_034001_524438/initial_state.pddl @@ -0,0 +1,600 @@ + +(define (problem plan_trial_T20190909_034001_524438) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_82_bar__plus_00_dot_98_bar__plus_01_dot_86 - object + BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object + BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object + Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 - object + CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 - object + CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_34 - object + CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 - object + CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 - object + CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_25 - object + CellPhone_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 - object + Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object + CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 - object + CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_32 - object + CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 - object + Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object + KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 - object + KeyChain_bar__minus_01_dot_47_bar__plus_00_dot_36_bar__minus_01_dot_25 - object + KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 - object + Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object + Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object + Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 - object + Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 - object + LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object + Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object + Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 - object + Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object + Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 - object + Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 - object + Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_48 - object + Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 - object + Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 - object + Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 - object + Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 - object + Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 - object + Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object + ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle + Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle + Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle + GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_7_bar_0_bar_60 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_8_bar_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar_7_bar_6_bar_1_bar_60 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar_7_bar__minus_5_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_0 - location + loc_bar_8_bar_7_bar_1_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_9_bar_1_bar_0_bar_60 - location + loc_bar_4_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_7_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_3_bar_60 - location + loc_bar_9_bar_1_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType) + (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType) + (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType) + (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 PenType) + (objectType Pillow_bar__minus_00_dot_98_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType) + (objectType CellPhone_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 CellPhoneType) + (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType) + (objectType Pencil_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_09 PencilType) + (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType) + (objectType Pillow_bar__minus_00_dot_18_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType) + (objectType KeyChain_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_36 KeyChainType) + (objectType AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_98_bar__plus_01_dot_86 AlarmClockType) + (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 PenType) + (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType) + (objectType CreditCard_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_32 CreditCardType) + (objectType CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_34 CDType) + (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_48 PencilType) + (objectType Laptop_bar__plus_02_dot_44_bar__plus_00_dot_45_bar__minus_00_dot_74 LaptopType) + (objectType Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 LaptopType) + (objectType CreditCard_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 CreditCardType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType) + (objectType KeyChain_bar__plus_02_dot_47_bar__plus_00_dot_45_bar__minus_01_dot_09 KeyChainType) + (objectType CD_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_16 CDType) + (objectType CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 CreditCardType) + (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType) + (objectType Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType) + (objectType Book_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 BookType) + (objectType Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 PencilType) + (objectType CellPhone_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_41 CellPhoneType) + (objectType Mug_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_00_dot_35 MugType) + (objectType CD_bar__plus_02_dot_24_bar__plus_00_dot_45_bar__minus_00_dot_95 CDType) + (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType) + (objectType Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_01 PenType) + (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType) + (objectType CellPhone_bar__minus_01_dot_56_bar__plus_00_dot_66_bar__minus_01_dot_25 CellPhoneType) + (objectType KeyChain_bar__minus_01_dot_47_bar__plus_00_dot_36_bar__minus_01_dot_25 KeyChainType) + (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 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 SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (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 CabinetType BookType) + (canContain CabinetType CDType) + 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(objectAtLocation Laptop_bar__minus_00_dot_98_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__minus_01_dot_56_bar__plus_00_dot_36_bar__plus_01_dot_42 loc_bar__minus_4_bar_6_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_82_bar__plus_00_dot_98_bar__plus_01_dot_86 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation 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Turn right and walk to the bed side table on the left side of the bed.", + "Open the drawer of the bed side table and take out the keys.", + "Turn around and walk toward the trash can. Turn back around and face the bed side table.", + "Put the keys on top of the table.", + "Walk up to the bed side table.", + "Open the drawer of the bed side table.", + "Take out a set of keys from the drawer. Turn around walk toward the trash can. Turn around and face the bed side table.", + "Place the set of keys on top of the bed side table." + ], + "task_desc": "Take two sets of keys out of the bed side table drawer and place them on top of the table.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_3LEIZ60CDMQC278DO3RPJNL6TAZZ94", + "high_descs": [ + "Turn left and walk forward, then hang a left and walk up to the wall, turn right and walk over to the wooden nightstand to the left of the bed.", + "Open the upper drawer of the nightstand and take out the set of keys, then close the drawer.", + "Turn around and take two steps, then turn back around to face the nightstand.", + "Put the set of keys on the nightstand.", + "Walk up to the nightstand.", + "Open the upper drawer of the nightstand and take out the set of keys, then close the drawer.", + "Turn around and take two steps, then turn back around to face the nightstand.", + "Put the set of keys on the nightstand." + ], + "task_desc": "Move two keys onto a nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3T9K2RY06UO14_3Y54SXRO1OCE0NNHGMXYTV73LZKTU6", + "high_descs": [ + "Turn and go to the nightstand by the bed.", + "Pick up keys in the drawer in the nightstand.", + "Turn and go to the nightstand by the bed.", + "Put the keys on the nightstand.", + "Turn and go to the nightstand by the bed.", + "Pick up keys in the drawer in the nightstand.", + "Turn and go to the nightstand by the bed.", + "Put the keys on the nightstand." + ], + "task_desc": "Move two keys to the nightstand by the bed. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..b5fb11182eef8951cb15781c64d296088389a8f3 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/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 keychain and put them in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_095533_482785)\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_73_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 - object\n AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 - object\n Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 - object\n Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 - object\n CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 - object\n CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 - object\n CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 - object\n CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 - object\n CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 - object\n KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 - object\n KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 - object\n Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 - object\n Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 - object\n Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 - object\n Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 - object\n Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 - object\n Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_4_bar_6_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 MugType)\n (objectType CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 CellPhoneType)\n (objectType Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 BookType)\n (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 AlarmClockType)\n (objectType Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 BookType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 CellPhoneType)\n (objectType KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 KeyChainType)\n (objectType CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 CDType)\n (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 PenType)\n (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType)\n (objectType Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 LaptopType)\n (objectType CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 CreditCardType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType)\n (objectType KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 KeyChainType)\n (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType)\n (objectType CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 CDType)\n (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType)\n (objectType Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType)\n (objectType Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 BookType)\n (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 PencilType)\n (objectType KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 KeyChainType)\n (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 PenType)\n (objectType CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 CreditCardType)\n (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType)\n (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType)\n (objectType Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType)\n (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 PenType)\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 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 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 BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain DrawerType 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 CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\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 CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (canContain ArmChairType ClothType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain ArmChairType CreditCardType)\n (canContain DresserType PenType)\n (canContain DresserType BookType)\n (canContain DresserType CDType)\n (canContain DresserType MugType)\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 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 BaseballBatType)\n (canContain SideTableType ClothType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType PencilType)\n (canContain SideTableType AlarmClockType)\n (canContain CabinetType BookType)\n (canContain CabinetType CDType)\n (canContain CabinetType MugType)\n (canContain CabinetType ClothType)\n (pickupable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n (pickupable CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48)\n (pickupable Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33)\n (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15)\n (pickupable Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56)\n (pickupable AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63)\n (pickupable Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33)\n (pickupable CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34)\n (pickupable KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54)\n (pickupable CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62)\n (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25)\n (pickupable AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (pickupable Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16)\n (pickupable CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58)\n (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76)\n (pickupable AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44)\n (pickupable KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42)\n (pickupable CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75)\n (pickupable Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78)\n (pickupable Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27)\n (pickupable Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48)\n (pickupable KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84)\n (pickupable Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72)\n (pickupable CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63)\n (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n (pickupable Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78)\n (pickupable Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01)\n (isReceptacleObject Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02)\n (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01)\n (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03)\n \n (atLocation agent1 loc_bar_4_bar_6_bar_2_bar_30)\n \n (cleanable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73)\n \n (heatable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n (coolable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25)\n \n \n \n \n \n \n \n (inReceptacle AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48)\n (inReceptacle CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48)\n (inReceptacle Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25)\n (inReceptacle Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01)\n (inReceptacle KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25)\n (inReceptacle KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82)\n (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01)\n (inReceptacle Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11)\n (inReceptacle CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78)\n (inReceptacle CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69)\n \n \n (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 loc_bar_8_bar_7_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 loc_bar_6_bar_3_bar_1_bar_45)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 loc_bar_5_bar__minus_5_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 loc_bar__minus_2_bar_6_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to armchair 1", "take keychain 2 from armchair 1", "go to sidetable 1", "move keychain 2 to sidetable 1", "go to armchair 1", "take keychain 1 from armchair 1", "go to sidetable 1", "move keychain 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..49ae2c7c96db4cce6329f6894e60cc4a840b8f92 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095533_482785/initial_state.pddl @@ -0,0 +1,590 @@ + +(define (problem plan_trial_T20190909_095533_482785) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_73_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 - object + AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 - object + BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object + BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object + Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 - object + Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 - object + Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 - object + CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 - object + CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 - object + CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 - object + CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 - object + Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object + CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 - object + CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 - object + Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object + KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 - object + KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 - object + KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 - object + Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object + Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object + Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 - object + LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object + Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object + Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 - object + Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object + Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 - object + Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 - object + Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 - object + Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 - object + Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 - object + Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 - object + Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object + ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle + Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle + Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle + GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_7_bar_0_bar_60 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_8_bar_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar_7_bar_6_bar_1_bar_60 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar_7_bar__minus_5_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_0 - location + loc_bar_8_bar_7_bar_1_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_9_bar_1_bar_0_bar_60 - location + loc_bar_4_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_7_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_3_bar_60 - location + loc_bar_4_bar_6_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType) + (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType) + (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType) + (objectType Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 MugType) + (objectType CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 CellPhoneType) + (objectType Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 PillowType) + (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType) + (objectType Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 BookType) + (objectType AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 AlarmClockType) + (objectType Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 BookType) + (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType) + (objectType CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 CellPhoneType) + (objectType KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 KeyChainType) + (objectType CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 CDType) + (objectType Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 PenType) + (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType) + (objectType Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 LaptopType) + (objectType CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 CreditCardType) + (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType) + (objectType AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 AlarmClockType) + (objectType KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 KeyChainType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType) + (objectType CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 CDType) + (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType) + (objectType Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType) + (objectType Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 BookType) + (objectType Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 PencilType) + (objectType KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 KeyChainType) + (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 PenType) + (objectType CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 CreditCardType) + (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType) + (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType) + (objectType Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 PillowType) + (objectType Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 PenType) + (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 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 SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (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 CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (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 CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (canContain ArmChairType ClothType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType CDType) + (canContain DresserType MugType) + (canContain DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType ClothType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (pickupable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25) + (pickupable CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48) + (pickupable Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33) + (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15) + (pickupable Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56) + (pickupable AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63) + (pickupable Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33) + (pickupable CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34) + (pickupable KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54) + (pickupable CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62) + (pickupable Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25) + (pickupable AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44) + (pickupable Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16) + (pickupable CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58) + (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76) + (pickupable AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44) + (pickupable KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42) + (pickupable CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75) + (pickupable Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78) + (pickupable Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27) + (pickupable Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48) + (pickupable KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84) + (pickupable Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72) + (pickupable CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63) + (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73) + (pickupable Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78) + (pickupable Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01) + (isReceptacleObject Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03) + + (atLocation agent1 loc_bar_4_bar_6_bar_2_bar_30) + + (cleanable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25) + (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73) + + (heatable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25) + (coolable Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25) + + + + + + + + (inReceptacle AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48) + (inReceptacle Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25) + (inReceptacle Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25) + (inReceptacle Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01) + (inReceptacle KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82) + (inReceptacle CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82) + (inReceptacle KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82) + (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78) + (inReceptacle CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_81_bar__plus_00_dot_45_bar__minus_00_dot_62 loc_bar_7_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_02_dot_73_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_60_bar__plus_00_dot_67_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_63 loc_bar_8_bar_7_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_48_bar__plus_00_dot_45_bar__minus_00_dot_54 loc_bar_7_bar__minus_3_bar_1_bar_60) + (objectAtLocation Book_bar__plus_00_dot_09_bar__plus_00_dot_69_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_98_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Book_bar__minus_00_dot_72_bar__plus_00_dot_69_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation KeyChain_bar__minus_01_dot_54_bar__plus_00_dot_36_bar__minus_01_dot_42 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_27 loc_bar_6_bar_3_bar_1_bar_45) + (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation KeyChain_bar__plus_02_dot_23_bar__plus_00_dot_45_bar__minus_00_dot_84 loc_bar_7_bar__minus_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_01_dot_58 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Pen_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_72 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Pencil_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__minus_01_dot_48 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_63 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_52_bar__plus_00_dot_78_bar__plus_00_dot_78 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_09_bar__plus_00_dot_78_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30) + (objectAtLocation CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_69_bar__plus_00_dot_34 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation CD_bar__plus_01_dot_33_bar__plus_00_dot_02_bar__minus_01_dot_75 loc_bar_5_bar__minus_5_bar_2_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0) + (objectAtLocation Mug_bar__minus_01_dot_51_bar__plus_00_dot_66_bar__plus_01_dot_25 loc_bar__minus_2_bar_6_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 KeyChainType) + (receptacleType ?r SideTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 KeyChainType) + (receptacleType ?r SideTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git 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"x": 0.0, + "y": 90.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 803191730, + "scene_num": 322 + }, + "task_id": "trial_T20190909_095533_482785", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A6SR4BU227GUH_31IBVUNM9VQ4UXUGQS2E8DUL8XOVFS", + "high_descs": [ + "go straight to the wall, then turn left to face the grey chair", + "pick up the key ring to the right of the compact disc", + "turn around and go straight to the night stand to the left of the bed", + "place the key ring on the night stand in front of the lamp", + "look down at the night stand drawer", + "open the drawer and take the key ring in the drawer", + "face the night stand again with the first set of keys on it", + "place the second key ring on the night stand to the left of the first set" + ], + "task_desc": "gather together two key rings and place them on top of the night stand", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3F7G1FSFWQPLE_339ANSOTR8TAOD2USWUS91WW8QAIKJ", + "high_descs": [ + "Walk towards the wall, then turn left and walk up to the chair.", + "Pick up the rightmost set of keys off of the chair.", + "Turn right and walk up to the wall, then hang a right and walk over to the wooden nightstand to the left of the bed.", + "Put the keys on the wooden nightstand.", + "Turn left and walk up to the wall, then turn right and walk over to the wooden nightstand.", + "Open the upper drawer of the nightstand and take out the keys, then close the drawer.", + "Turn right and walk over to the bed, then turn right and walk forward and turn around to face the nightstand.", + "Put the keys on the nightstand." + ], + "task_desc": "Move two sets of keys to a nightstand.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_3QECW5O0KKSXF8X2FLPQLJFNMHT5T0", + "high_descs": [ + "Go forward, turn left at the chair, go to the chair.", + "Take the keys on the right of the chair.", + "Turn right, go forward, turn right, go forward to the night stand.", + "Put the keys on the night stand.", + "Move closer to the left of the night stand.", + "Take the keys from the drawer in the night stand.", + "Move away from the night stand, face the night stand.", + "Put the keys on the night stand." + ], + "task_desc": "Put two keys on a night stand.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..ae4b74a88cf64af30cc886bdf696f3de8a24edc5 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/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 keychain and put them in sidetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_095643_442738)\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_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 - object\n BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object\n BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object\n Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 - object\n CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 - object\n CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 - object\n CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 - object\n CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31 - object\n CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 - object\n CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 - object\n Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object\n CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 - object\n CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27 - object\n Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object\n KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 - object\n KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 - object\n KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75 - object\n KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object\n Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object\n Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 - object\n LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object\n Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object\n Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 - object\n Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 - object\n Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object\n Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 - object\n Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 - object\n Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 - object\n Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 - object\n Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 - object\n Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 - object\n Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object\n ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle\n Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle\n Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle\n Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle\n Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle\n Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle\n GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle\n SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle\n loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location\n loc_bar_4_bar_7_bar_0_bar_60 - location\n loc_bar_8_bar_1_bar_1_bar_60 - location\n loc_bar_5_bar_7_bar_0_bar_45 - location\n loc_bar_6_bar_3_bar_1_bar_45 - location\n loc_bar_8_bar_5_bar_1_bar_60 - location\n loc_bar_6_bar__minus_5_bar_2_bar_15 - location\n loc_bar_8_bar_3_bar_1_bar_60 - location\n loc_bar_2_bar_6_bar_0_bar_30 - location\n loc_bar_7_bar_6_bar_1_bar_60 - location\n loc_bar_6_bar__minus_1_bar_1_bar_45 - location\n loc_bar_5_bar__minus_5_bar_2_bar_60 - location\n loc_bar_7_bar__minus_5_bar_1_bar_45 - location\n loc_bar_0_bar__minus_5_bar_2_bar_0 - location\n loc_bar_8_bar_7_bar_1_bar_60 - location\n loc_bar_7_bar_2_bar_1_bar_60 - location\n loc_bar_7_bar__minus_3_bar_1_bar_60 - location\n loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location\n loc_bar_9_bar_1_bar_0_bar_60 - location\n loc_bar_4_bar_0_bar_3_bar_45 - location\n loc_bar__minus_2_bar_6_bar_3_bar_60 - location\n loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location\n loc_bar_7_bar__minus_5_bar_2_bar_60 - location\n loc_bar__minus_4_bar_6_bar_3_bar_60 - location\n loc_bar_5_bar_3_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType)\n (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType)\n (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType)\n (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType)\n (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType)\n (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType)\n (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType)\n (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType)\n (objectType KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 KeyChainType)\n (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType)\n (objectType CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 CDType)\n (objectType Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 MugType)\n (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType)\n (objectType Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 PencilType)\n (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType)\n (objectType CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 CDType)\n (objectType KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 KeyChainType)\n (objectType Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 PenType)\n (objectType KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 KeyChainType)\n (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 AlarmClockType)\n (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType)\n (objectType 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KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 loc_bar_7_bar_6_bar_1_bar_60)\n (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30)\n (objectAtLocation KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60)\n (objectAtLocation Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60)\n (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 loc_bar_8_bar_5_bar_1_bar_60)\n (objectAtLocation Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45)\n (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45)\n (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60)\n (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60)\n (objectAtLocation Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45)\n (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15)\n (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30)\n (objectAtLocation CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 loc_bar_8_bar_1_bar_1_bar_60)\n (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0)\n (objectAtLocation Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 KeyChainType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to drawer 3", "open drawer 3", "take keychain 3 from drawer 3", "go to sidetable 1", "move keychain 3 to sidetable 1", "go to dresser 1", "take keychain 1 from dresser 1", "go to sidetable 1", "move keychain 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..c4118fcc94b3c1f1a7520efdef8841144c3654da --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-KeyChain-None-SideTable-322/trial_T20190909_095643_442738/initial_state.pddl @@ -0,0 +1,587 @@ + +(define (problem plan_trial_T20190909_095643_442738) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 - object + BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 - object + BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 - object + Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 - object + CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 - object + CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 - object + CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 - object + CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31 - object + CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 - object + CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 - object + Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 - object + CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 - object + CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27 - object + Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 - object + KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 - object + KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 - object + KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75 - object + KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 - object + Lamp_bar__minus_01_dot_62_bar__plus_00_dot_65_bar__plus_01_dot_49 - object + Lamp_bar__minus_01_dot_63_bar__plus_00_dot_65_bar__minus_01_dot_31 - object + Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 - object + LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 - object + Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 - object + Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 - object + Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 - object + Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 - object + Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 - object + Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 - object + Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 - object + Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 - object + Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 - object + Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 - object + Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 - object + ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 - receptacle + Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 - receptacle + Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 - receptacle + Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 - receptacle + Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 - receptacle + Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 - receptacle + GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 - receptacle + SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 - receptacle + loc_bar__minus_4_bar__minus_5_bar_3_bar_60 - location + loc_bar_4_bar_7_bar_0_bar_60 - location + loc_bar_8_bar_1_bar_1_bar_60 - location + loc_bar_5_bar_7_bar_0_bar_45 - location + loc_bar_6_bar_3_bar_1_bar_45 - location + loc_bar_8_bar_5_bar_1_bar_60 - location + loc_bar_6_bar__minus_5_bar_2_bar_15 - location + loc_bar_8_bar_3_bar_1_bar_60 - location + loc_bar_2_bar_6_bar_0_bar_30 - location + loc_bar_7_bar_6_bar_1_bar_60 - location + loc_bar_6_bar__minus_1_bar_1_bar_45 - location + loc_bar_5_bar__minus_5_bar_2_bar_60 - location + loc_bar_7_bar__minus_5_bar_1_bar_45 - location + loc_bar_0_bar__minus_5_bar_2_bar_0 - location + loc_bar_8_bar_7_bar_1_bar_60 - location + loc_bar_7_bar_2_bar_1_bar_60 - location + loc_bar_7_bar__minus_3_bar_1_bar_60 - location + loc_bar_0_bar__minus_5_bar_2_bar__minus_30 - location + loc_bar_9_bar_1_bar_0_bar_60 - location + loc_bar_4_bar_0_bar_3_bar_45 - location + loc_bar__minus_2_bar_6_bar_3_bar_60 - location + loc_bar__minus_2_bar__minus_5_bar_3_bar_60 - location + loc_bar_7_bar__minus_5_bar_2_bar_60 - location + loc_bar__minus_4_bar_6_bar_3_bar_60 - location + loc_bar_5_bar_3_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 BedType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 DrawerType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 DrawerType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 CabinetType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 DrawerType) + (receptacleType Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 CabinetType) + (receptacleType GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 GarbageCanType) + (receptacleType Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 DrawerType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 CabinetType) + (receptacleType ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 ArmChairType) + (receptacleType Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 DresserType) + (receptacleType SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 SideTableType) + (receptacleType Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 CabinetType) + (objectType KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 KeyChainType) + (objectType Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 PaintingType) + (objectType CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 CDType) + (objectType Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 MugType) + (objectType BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 BaseballBatType) + (objectType Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 PencilType) + (objectType LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 LightSwitchType) + (objectType CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 CDType) + (objectType KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 KeyChainType) + (objectType Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 PenType) + (objectType KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 KeyChainType) + (objectType AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 AlarmClockType) + (objectType BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 BaseballBatType) + (objectType Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 PillowType) + (objectType CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 CellPhoneType) + (objectType Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 MugType) + (objectType CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 CreditCardType) + (objectType CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 CellPhoneType) + (objectType Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 WindowType) + (objectType CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31 CellPhoneType) + (objectType Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 PillowType) + (objectType CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27 CreditCardType) + (objectType Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 PenType) + (objectType KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75 KeyChainType) + (objectType Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 PillowType) + (objectType Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 CurtainsType) + (objectType CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 CDType) + (objectType Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 BookType) + (objectType Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 MirrorType) + (objectType Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 ClothType) + (objectType Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 LaptopType) + (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 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 SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (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 CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (canContain GarbageCanType 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DresserType CellPhoneType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType ClothType) + (canContain DresserType LaptopType) + (canContain DresserType PencilType) + (canContain DresserType AlarmClockType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType CDType) + (canContain SideTableType MugType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType BaseballBatType) + (canContain SideTableType ClothType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType AlarmClockType) + (canContain CabinetType BookType) + (canContain CabinetType CDType) + (canContain CabinetType MugType) + (canContain CabinetType ClothType) + (pickupable KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75) + (pickupable CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28) + (pickupable Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39) + (pickupable BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15) + (pickupable Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44) + (pickupable CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01) + (pickupable KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82) + (pickupable Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29) + (pickupable KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29) + (pickupable AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16) + (pickupable BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76) + (pickupable Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56) + (pickupable CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40) + (pickupable Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25) + (pickupable CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42) + (pickupable CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40) + (pickupable CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31) + (pickupable Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11) + (pickupable CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27) + (pickupable Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71) + (pickupable KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75) + (pickupable Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20) + (pickupable CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44) + (pickupable Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79) + (pickupable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73) + (pickupable Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33) + (isReceptacleObject Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39) + (isReceptacleObject Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02) + (openable Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01) + (openable Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03) + + (atLocation agent1 loc_bar_5_bar_3_bar_2_bar_30) + + (cleanable Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39) + (cleanable Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25) + (cleanable Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73) + + (heatable Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39) + (heatable Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25) + (coolable Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39) + (coolable Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25) + + + + + + + + (inReceptacle CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48) + (inReceptacle KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75) + (inReceptacle Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03) + (inReceptacle CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23) + (inReceptacle Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25) + (inReceptacle CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27) + (inReceptacle CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27 Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27) + (inReceptacle Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01) + (inReceptacle CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31 Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25) + (inReceptacle KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01) + (inReceptacle Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + (inReceptacle Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_58_bar__minus_00_dot_01_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60) + (receptacleAtLocation Bed_bar__minus_00_dot_75_bar__plus_00_dot_03_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_00 loc_bar_7_bar_2_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_01_dot_01 loc_bar_6_bar_3_bar_1_bar_45) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__plus_02_dot_03 loc_bar_7_bar_6_bar_1_bar_60) + (receptacleAtLocation Cabinet_bar__plus_02_dot_48_bar__plus_00_dot_50_bar__minus_00_dot_02 loc_bar_6_bar__minus_1_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_23 loc_bar_8_bar_1_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_57_bar__plus_00_dot_90_bar__plus_01_dot_78 loc_bar_8_bar_7_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__plus_01_dot_48 loc_bar__minus_4_bar_6_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_53_bar__plus_00_dot_44_bar__minus_01_dot_25 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__plus_02_dot_82_bar__plus_00_dot_00_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__plus_01_dot_35_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar_5_bar__minus_5_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__plus_01_dot_48 loc_bar__minus_2_bar_6_bar_3_bar_60) + (receptacleAtLocation SideTable_bar__minus_01_dot_60_bar__minus_00_dot_01_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + (objectAtLocation Mug_bar__plus_02_dot_60_bar__plus_00_dot_18_bar__plus_01_dot_39 loc_bar_6_bar_3_bar_1_bar_45) + (objectAtLocation CD_bar__plus_03_dot_08_bar__plus_00_dot_98_bar__plus_01_dot_01 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_52_bar__plus_00_dot_36_bar__minus_01_dot_31 loc_bar__minus_4_bar__minus_5_bar_3_bar_60) + (objectAtLocation Pillow_bar__minus_01_dot_37_bar__plus_00_dot_75_bar__minus_00_dot_20 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Pen_bar__plus_02_dot_91_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_60_bar__plus_00_dot_89_bar__plus_01_dot_27 loc_bar_8_bar_5_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_73_bar__plus_00_dot_99_bar__plus_01_dot_29 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_66_bar__plus_00_dot_45_bar__minus_00_dot_75 loc_bar_7_bar__minus_3_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_02_dot_39_bar__plus_00_dot_45_bar__minus_00_dot_82 loc_bar_7_bar__minus_3_bar_1_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_60_bar__plus_00_dot_66_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_56_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation Book_bar__plus_02_dot_71_bar__plus_00_dot_18_bar__plus_01_dot_79 loc_bar_7_bar_6_bar_1_bar_60) + (objectAtLocation Curtains_bar__minus_00_dot_02_bar__plus_02_dot_92_bar__minus_01_dot_85 loc_bar_0_bar__minus_5_bar_2_bar__minus_30) + (objectAtLocation KeyChain_bar__plus_02_dot_56_bar__plus_00_dot_89_bar__plus_00_dot_75 loc_bar_8_bar_3_bar_1_bar_60) + (objectAtLocation Laptop_bar__minus_00_dot_45_bar__plus_00_dot_69_bar__minus_00_dot_33 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Cloth_bar__plus_01_dot_76_bar__plus_00_dot_00_bar__minus_01_dot_73 loc_bar_7_bar__minus_5_bar_2_bar_60) + (objectAtLocation CreditCard_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_01_dot_42 loc_bar_8_bar_5_bar_1_bar_60) + (objectAtLocation Pen_bar__minus_01_dot_65_bar__plus_00_dot_67_bar__plus_01_dot_71 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation Pencil_bar__plus_02_dot_64_bar__plus_00_dot_99_bar__plus_00_dot_44 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__plus_03_dot_08_bar__plus_00_dot_63_bar__minus_01_dot_76 loc_bar_7_bar__minus_5_bar_1_bar_45) + (objectAtLocation LightSwitch_bar__plus_01_dot_32_bar__plus_01_dot_30_bar__plus_02_dot_20 loc_bar_5_bar_7_bar_0_bar_45) + (objectAtLocation AlarmClock_bar__plus_03_dot_00_bar__plus_00_dot_99_bar__plus_00_dot_16 loc_bar_9_bar_1_bar_0_bar_60) + (objectAtLocation BaseballBat_bar__plus_00_dot_81_bar__plus_00_dot_05_bar__plus_02_dot_15 loc_bar_4_bar_7_bar_0_bar_60) + (objectAtLocation Pillow_bar__minus_00_dot_72_bar__plus_00_dot_78_bar__plus_00_dot_56 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Pillow_bar__minus_00_dot_45_bar__plus_00_dot_78_bar__plus_00_dot_11 loc_bar_4_bar_0_bar_3_bar_45) + (objectAtLocation Painting_bar__plus_01_dot_53_bar__plus_01_dot_52_bar__minus_01_dot_85 loc_bar_6_bar__minus_5_bar_2_bar_15) + (objectAtLocation Mirror_bar__plus_00_dot_58_bar__plus_01_dot_35_bar__plus_02_dot_20 loc_bar_2_bar_6_bar_0_bar_30) + (objectAtLocation CellPhone_bar__minus_01_dot_74_bar__plus_00_dot_66_bar__plus_01_dot_40 loc_bar__minus_2_bar_6_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_58_bar__plus_00_dot_89_bar__plus_00_dot_28 loc_bar_8_bar_1_bar_1_bar_60) + (objectAtLocation Window_bar__minus_00_dot_01_bar__plus_01_dot_69_bar__minus_01_dot_92 loc_bar_0_bar__minus_5_bar_2_bar_0) + (objectAtLocation Mug_bar__minus_01_dot_65_bar__plus_00_dot_66_bar__minus_01_dot_25 loc_bar__minus_2_bar__minus_5_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 KeyChainType) + (receptacleType ?r SideTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 KeyChainType) 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and cross the room, then turn left and cross the room to face the side table.", + "Place the keys on the side table." + ], + "task_desc": "To move two cards from a chair to the side table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A12HZGOZQD5YK7_3IUZPWIU1RYSP8MZHDY7AS54N2YWKW", + "high_descs": [ + "Go across the room and turn left toward the chair.", + "Pick up the keys on the right side of the chair.", + "Turn left, go across the room, turn left and go to the nightstand.", + "Put the keys on the nightstand.", + "Turn around and go to the dresser.", + "Pick up the keys on the dress.", + "Turn around and go back to the nightstand.", + "Put the keys on the nightstand." + ], + "task_desc": "Put two sets of keys on the nightstand.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A20FCMWP43CVIU_3P1L2B7AD4GV45VFBRJY8Y5X908OLJ", + "high_descs": [ + "turn to face grey plush chair", + "pick up set of keys from chair", + "walk to face night stand to the right of the bed", + "put keys on the night stand", + "walk to face the bureau", + "pick up set of keys from bureau", + "walk to face night stand to the right of the bed", + "put keys on the night stand" + ], + "task_desc": "put two sets o keys on the night stand", + "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-Pen-None-SideTable-330/trial_T20190908_121048_491026/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..4bf907b5b9b7bf3c862a80d0c0e763410a1b3f0a --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/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 pen and put them 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_121048_491026)\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_73_bar__plus_00_dot_68_bar__plus_02_dot_26 - object\n AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 - object\n AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 - object\n Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object\n Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 - object\n Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 - 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_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 - object\n CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 - object\n CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 - object\n CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 - object\n CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 - object\n CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 - object\n HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object\n KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 - 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_50_bar__plus_00_dot_77_bar__minus_00_dot_11 - 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_50_bar__plus_00_dot_42_bar__plus_00_dot_26 - object\n Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 - object\n Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 - object\n Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 - object\n Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 - object\n Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 - object\n Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 - object\n Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 - object\n Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 - 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_4_bar__minus_10_bar_3_bar_0 - 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_7_bar_4_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 Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType)\n (objectType Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 BookType)\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 Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 StatueType)\n (objectType CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 CellPhoneType)\n (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType)\n (objectType CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 CDType)\n (objectType CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 CDType)\n (objectType Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 BookType)\n (objectType KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 KeyChainType)\n (objectType CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 CreditCardType)\n (objectType CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 CDType)\n (objectType Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 PenType)\n (objectType AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 AlarmClockType)\n (objectType Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 PenType)\n (objectType Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 VaseType)\n (objectType AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 AlarmClockType)\n (objectType Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 PillowType)\n (objectType CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 CellPhoneType)\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 Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 PillowType)\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_65_bar__plus_01_dot_63_bar__minus_02_dot_32 VaseType)\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 Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 PenType)\n (objectType Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 PencilType)\n (objectType AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 AlarmClockType)\n (objectType Laptop_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_11 LaptopType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain 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 KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain DrawerType PenType)\n (canContain DrawerType BookType)\n (canContain DrawerType CDType)\n (canContain DrawerType CellPhoneType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType PencilType)\n (canContain BedType LaptopType)\n (canContain BedType BookType)\n (canContain BedType CellPhoneType)\n (canContain BedType PillowType)\n (canContain ArmChairType LaptopType)\n (canContain ArmChairType BookType)\n (canContain ArmChairType CellPhoneType)\n (canContain ArmChairType PillowType)\n (canContain ArmChairType KeyChainType)\n (canContain 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 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__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70)\n (pickupable Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72)\n (pickupable CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02)\n (pickupable CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18)\n (pickupable CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59)\n (pickupable Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26)\n (pickupable KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13)\n (pickupable CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67)\n (pickupable CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42)\n (pickupable Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96)\n (pickupable AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26)\n (pickupable Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07)\n (pickupable Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73)\n (pickupable AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34)\n (pickupable Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51)\n (pickupable CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10)\n (pickupable Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99)\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_65_bar__plus_01_dot_63_bar__minus_02_dot_32)\n (pickupable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30)\n (pickupable Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46)\n (pickupable Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26)\n (pickupable AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07)\n (pickupable Laptop_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_11)\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_7_bar_4_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 KeyChain_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 AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26)\n (inReceptacle Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (inReceptacle CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\n (inReceptacle CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00)\n (inReceptacle CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60)\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 AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\n (inReceptacle Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15)\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 CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26)\n (inReceptacle Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26)\n (inReceptacle CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14)\n (inReceptacle Laptop_bar__plus_01_dot_50_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_78_bar__plus_00_dot_84_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73)\n (inReceptacle Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\n (inReceptacle Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06)\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_65_bar__plus_01_dot_63_bar__minus_02_dot_32 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06)\n (inReceptacle Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06)\n (inReceptacle AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06)\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 CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 loc_bar_8_bar_5_bar_0_bar_60)\n (objectAtLocation CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 loc_bar__minus_2_bar_1_bar_3_bar_30)\n (objectAtLocation Pen_bar__minus_01_dot_67_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__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 loc_bar_2_bar_7_bar_1_bar_45)\n (objectAtLocation Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30)\n (objectAtLocation KeyChain_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_80_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60)\n (objectAtLocation Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45)\n (objectAtLocation Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\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_50_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_65_bar__plus_01_dot_63_bar__minus_02_dot_32 loc_bar__minus_4_bar__minus_8_bar_3_bar_0)\n (objectAtLocation Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45)\n (objectAtLocation CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 loc_bar_10_bar__minus_4_bar_2_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_67_bar__plus_01_dot_15_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_30)\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_14_bar__plus_00_dot_44_bar__plus_02_dot_10 loc_bar_9_bar_3_bar_0_bar_60)\n (objectAtLocation CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_10_bar_3_bar_0)\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__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 loc_bar_10_bar__minus_4_bar_2_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 PenType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 PenType)\n (receptacleType ?r SideTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 2", "take pen 3 from dresser 2", "go to sidetable 1", "move pen 3 to sidetable 1", "go to shelf 1", "take pen 1 from shelf 1", "go to sidetable 1", "move pen 1 to sidetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..0907bb220294b350df1162d5b7a741e991db8454 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/initial_state.pddl @@ -0,0 +1,705 @@ + +(define (problem plan_trial_T20190908_121048_491026) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_73_bar__plus_00_dot_68_bar__plus_02_dot_26 - object + AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 - object + AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 - object + Blinds_bar__minus_01_dot_06_bar__plus_02_dot_36_bar__minus_03_dot_17 - object + Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 - object + Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 - 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_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 - object + CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 - object + CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 - object + CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 - object + CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 - object + CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 - object + HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 - object + KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 - 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_50_bar__plus_00_dot_77_bar__minus_00_dot_11 - 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_50_bar__plus_00_dot_42_bar__plus_00_dot_26 - object + Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 - object + Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 - object + Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 - object + Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 - object + Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 - object + Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 - object + Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 - object + Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 - 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_4_bar__minus_10_bar_3_bar_0 - 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_7_bar_4_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 Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 PaintingType) + (objectType Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 BookType) + (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 Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 StatueType) + (objectType CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 CellPhoneType) + (objectType LightSwitch_bar__minus_00_dot_16_bar__plus_01_dot_09_bar__plus_02_dot_45 LightSwitchType) + (objectType CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 CDType) + (objectType CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 CDType) + (objectType Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 BookType) + (objectType KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13 KeyChainType) + (objectType CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 CreditCardType) + (objectType CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 CDType) + (objectType Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 PenType) + (objectType AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 AlarmClockType) + (objectType Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 PenType) + (objectType Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 VaseType) + (objectType AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 AlarmClockType) + (objectType Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 PillowType) + (objectType CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 CellPhoneType) + (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 Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 PillowType) + (objectType Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 BootsType) + (objectType Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 VaseType) + (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 Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 PenType) + (objectType Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 PencilType) + (objectType AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 AlarmClockType) + (objectType Laptop_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_11 LaptopType) + (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 PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType VaseType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType StatueType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain BedType LaptopType) + (canContain BedType BookType) + (canContain BedType CellPhoneType) + (canContain BedType PillowType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType BookType) + (canContain ArmChairType CellPhoneType) + (canContain ArmChairType PillowType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain SideTableType PenType) + (canContain SideTableType BookType) + (canContain SideTableType BowlType) + (canContain SideTableType VaseType) + (canContain SideTableType CDType) + (canContain SideTableType CellPhoneType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType PencilType) + (canContain SideTableType StatueType) + (canContain SideTableType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain ShelfType PenType) + (canContain ShelfType BookType) + (canContain ShelfType BowlType) + (canContain ShelfType VaseType) + (canContain ShelfType CDType) + (canContain ShelfType CellPhoneType) + (canContain ShelfType KeyChainType) + (canContain ShelfType CreditCardType) + (canContain ShelfType PencilType) + (canContain ShelfType StatueType) + (canContain ShelfType AlarmClockType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DrawerType PenType) + (canContain DrawerType BookType) + (canContain DrawerType CDType) + (canContain DrawerType CellPhoneType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType PencilType) + (canContain DresserType PenType) + (canContain DresserType BookType) + (canContain DresserType 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) + (pickupable Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70) + (pickupable Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72) + (pickupable CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02) + (pickupable CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18) + (pickupable CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59) + (pickupable Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26) + (pickupable KeyChain_bar__plus_01_dot_65_bar__plus_00_dot_68_bar__plus_02_dot_13) + (pickupable CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67) + (pickupable CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42) + (pickupable Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96) + (pickupable AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26) + (pickupable Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07) + (pickupable Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73) + (pickupable AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34) + (pickupable Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51) + (pickupable CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10) + (pickupable Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99) + (pickupable Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08) + (pickupable Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32) + (pickupable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + (pickupable Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46) + (pickupable Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26) + (pickupable AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07) + (pickupable Laptop_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_11) + (isReceptacleObject Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60) + (openable Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54) + (openable Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26) + (openable Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54) + + (atLocation agent1 loc_bar_7_bar_4_bar_2_bar_30) + + (cleanable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + + + (coolable Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30) + + + + + + + + (inReceptacle KeyChain_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) + (inReceptacle AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (inReceptacle Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26) + (inReceptacle Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (inReceptacle CellPhone_bar__plus_02_dot_14_bar__plus_00_dot_44_bar__plus_02_dot_10 ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00) + (inReceptacle CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60) + (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 AlarmClock_bar__minus_01_dot_80_bar__plus_00_dot_97_bar__minus_00_dot_34 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15) + (inReceptacle 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 CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (inReceptacle Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26) + (inReceptacle CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14) + (inReceptacle Laptop_bar__plus_01_dot_50_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) + (inReceptacle Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73) + (inReceptacle Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Bowl_bar__minus_01_dot_68_bar__plus_01_dot_14_bar__minus_02_dot_30 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06) + (inReceptacle Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + (inReceptacle AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06) + + + (receptacleAtLocation ArmChair_bar__plus_02_dot_41_bar__plus_00_dot_01_bar__plus_02_dot_00 loc_bar_9_bar_3_bar_0_bar_60) + (receptacleAtLocation Bed_bar__plus_01_dot_02_bar__plus_00_dot_06_bar__minus_00_dot_73 loc_bar_4_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_17_bar__plus_02_dot_14 loc_bar_2_bar_5_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_8_bar_5_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_17_bar__minus_01_dot_60 loc_bar_9_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__plus_00_dot_26 loc_bar_0_bar_3_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_10_bar__minus_00_dot_54 loc_bar__minus_2_bar_3_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__plus_00_dot_26 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_28_bar__minus_00_dot_54 loc_bar__minus_1_bar_0_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_48_bar__minus_00_dot_54 loc_bar__minus_1_bar__minus_1_bar_3_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__plus_00_dot_26 loc_bar__minus_3_bar__minus_3_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_67_bar__minus_00_dot_54 loc_bar__minus_3_bar_2_bar_2_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_59_bar__plus_00_dot_86_bar__minus_00_dot_54 loc_bar__minus_2_bar__minus_2_bar_3_bar_30) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_30_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_01_dot_72_bar__plus_00_dot_80_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_45) + (receptacleAtLocation Dresser_bar__minus_01_dot_75_bar__plus_00_dot_00_bar__minus_00_dot_15 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (receptacleAtLocation Dresser_bar__minus_01_dot_77_bar__minus_00_dot_01_bar__minus_02_dot_08 loc_bar__minus_4_bar__minus_8_bar_3_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_80_bar__plus_00_dot_00_bar__plus_00_dot_86 loc_bar__minus_5_bar_4_bar_3_bar_60) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_14_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (receptacleAtLocation Shelf_bar__minus_01_dot_70_bar__plus_01_dot_63_bar__minus_02_dot_06 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (receptacleAtLocation SideTable_bar__plus_01_dot_58_bar__plus_00_dot_46_bar__plus_02_dot_14 loc_bar_2_bar_7_bar_1_bar_45) + (receptacleAtLocation SideTable_bar__plus_02_dot_44_bar__plus_00_dot_46_bar__minus_01_dot_60 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation CD_bar__plus_01_dot_41_bar__plus_00_dot_37_bar__plus_02_dot_18 loc_bar_8_bar_5_bar_0_bar_60) + (objectAtLocation CellPhone_bar__minus_01_dot_61_bar__plus_00_dot_80_bar__minus_00_dot_02 loc_bar__minus_2_bar_1_bar_3_bar_30) + (objectAtLocation Pen_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_01_dot_96 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation AlarmClock_bar__plus_01_dot_73_bar__plus_00_dot_68_bar__plus_02_dot_26 loc_bar_2_bar_7_bar_1_bar_45) + (objectAtLocation Book_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_70 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation AlarmClock_bar__minus_01_dot_67_bar__plus_01_dot_64_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pen_bar__minus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_46 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation CD_bar__plus_02_dot_55_bar__plus_00_dot_37_bar__minus_01_dot_59 loc_bar_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation Book_bar__minus_01_dot_66_bar__plus_00_dot_80_bar__plus_00_dot_26 loc_bar__minus_2_bar_1_bar_3_bar_30) + (objectAtLocation KeyChain_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_80_bar__plus_00_dot_97_bar__minus_00_dot_34 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Pillow_bar__plus_01_dot_41_bar__plus_00_dot_79_bar__minus_01_dot_51 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Pillow_bar__plus_00_dot_78_bar__plus_00_dot_84_bar__minus_00_dot_99 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_01_dot_73 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation HousePlant_bar__minus_01_dot_79_bar__plus_00_dot_97_bar__plus_00_dot_53 loc_bar__minus_4_bar__minus_2_bar_3_bar_60) + (objectAtLocation Laptop_bar__plus_01_dot_50_bar__plus_00_dot_77_bar__minus_00_dot_11 loc_bar_4_bar_3_bar_2_bar_45) + (objectAtLocation Vase_bar__minus_01_dot_65_bar__plus_01_dot_63_bar__minus_02_dot_32 loc_bar__minus_4_bar__minus_8_bar_3_bar_0) + (objectAtLocation Pencil_bar__minus_01_dot_50_bar__plus_00_dot_42_bar__plus_00_dot_26 loc_bar__minus_1_bar_2_bar_3_bar_45) + (objectAtLocation CreditCard_bar__plus_02_dot_21_bar__plus_00_dot_68_bar__minus_01_dot_67 loc_bar_10_bar__minus_4_bar_2_bar_60) + (objectAtLocation Boots_bar__minus_01_dot_84_bar__plus_00_dot_00_bar__minus_01_dot_08 loc_bar__minus_4_bar__minus_4_bar_3_bar_60) + (objectAtLocation Painting_bar__plus_00_dot_38_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_00_dot_88_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar__minus_3_bar__minus_8_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__plus_01_dot_37_bar__plus_01_dot_98_bar__minus_01_dot_90 loc_bar_9_bar__minus_5_bar_3_bar__minus_15) + (objectAtLocation Pen_bar__minus_01_dot_67_bar__plus_01_dot_15_bar__minus_02_dot_07 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (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_14_bar__plus_00_dot_44_bar__plus_02_dot_10 loc_bar_9_bar_3_bar_0_bar_60) + (objectAtLocation CD_bar__minus_01_dot_76_bar__plus_01_dot_64_bar__minus_02_dot_42 loc_bar__minus_4_bar__minus_10_bar_3_bar_0) + (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_68_bar__plus_01_dot_14_bar__minus_02_dot_30 loc_bar__minus_4_bar__minus_8_bar_3_bar_30) + (objectAtLocation Statue_bar__plus_02_dot_44_bar__plus_00_dot_69_bar__minus_01_dot_72 loc_bar_10_bar__minus_4_bar_2_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 PenType) + (receptacleType ?r SideTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 PenType) + (receptacleType ?r SideTableType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a45ef0050e3d5049353be45f86b6cb6f04f6b2 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Pen-None-SideTable-330/trial_T20190908_121048_491026/traj_data.json @@ -0,0 +1,6754 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + 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"y": 1.13501811, + "z": -2.30082417 + }, + "rotation": { + "x": 0.0, + "y": 346.9008, + "z": 0.0 + } + }, + { + "objectName": "Statue_15407ea7", + "position": { + "x": 2.437999, + "y": 0.691063941, + "z": -1.71704566 + }, + "rotation": { + "x": 0.0, + "y": 0.0006744811, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 664864388, + "scene_num": 330 + }, + "task_id": "trial_T20190908_121048_491026", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_339ANSOTR8TAOD2USWUS91WW8JKIKF", + "high_descs": [ + "Turn right and walk to the right side of the black dresser. ", + "Pick up the pen that's in front of the plant. ", + "Turn right and walk around the bed to the night stand. ", + "Put the pen on the night stand in front of the lamp. ", + "Walk back over to the other side of the room, and walk to the dresser on the left. ", + "Pick up the pen to the left of the yellow container. ", + "Walk back over to the night stand on the other side of the room. ", + "Put the pen down on the night stand behind the first pen. " + ], + "task_desc": "Move two pens to the night stand. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A24RGLS3BRZ60J_37UQDCYH60MRF4FA8942KLH4A3R7VA", + "high_descs": [ + "Turn to the right and face the brown dresser.", + "Pick up the pen from the right side of the dresser.", + "Carry the pen and turn around. Past the bed, turn right and find the small dresser.", + "Place the pen on the dresser to the left side.", + "Turn around and then left past the bed. Turn left again and find the tall dresser.", + "Pick up the pen from the top of the tall dresser.", + "Carry the pen and turn to the right. Turn right again to find the small dresser beside the bed.", + "Place the pen on the small dresser, on top of the other pen." + ], + "task_desc": "Move two pens to a small dresser.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A2KAGFQU28JY43_3DUZQ9U6SPFDY2Z2WC2DFCD0XGGVSV", + "high_descs": [ + "Turn to your right and go past the bed, to the dresser across from you. ", + "Pick up the pen, in front of the plant, on the right side of the dresser. ", + "Turn around and go past the bed, then make a right and go to the night stand on the left side of the bed, ", + "Place the pen in front of the lamp, near the edge of the night stand. ", + "Turn around and go just past the bed, turn left and go to the end of the bed again, then make another left and go to the second dresser on your right. ", + "Grab the pen on the dresser to the right of the bowl. ", + "Turn to your right and go towards the door, then make a right and go to the end of the bed, then turn right again and go back to the night stand. ", + "Place the pen behind the other pen, on the night stand. " + ], + "task_desc": "Put two pens on the night stand. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190907_065350_357576/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190907_065350_357576/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..d94a73c514d771db686055362a9b9163232adaaa --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190907_065350_357576/initial_state.pddl @@ -0,0 +1,1043 @@ + +(define (problem plan_trial_T20190907_065350_357576) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_79_bar__plus_01_dot_02_bar__plus_00_dot_26 - object + Apple_bar__minus_02_dot_14_bar__plus_00_dot_85_bar__minus_01_dot_76 - object + Bowl_bar__minus_02_dot_31_bar__plus_00_dot_78_bar__minus_01_dot_76 - object + 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DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Egg_bar__minus_01_dot_79_bar__plus_00_dot_99_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_44 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Fork_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Lettuce_bar__minus_01_dot_93_bar__plus_01_dot_04_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Apple_bar__minus_01_dot_79_bar__plus_01_dot_02_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Bread_bar__plus_00_dot_04_bar__plus_01_dot_00_bar__plus_00_dot_46 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Cup_bar__minus_00_dot_10_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_00_dot_30_bar__plus_00_dot_93_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle PepperShaker_bar__plus_01_dot_41_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle DishSponge_bar__minus_00_dot_08_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Pan_bar__plus_01_dot_78_bar__plus_00_dot_91_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Spatula_bar__plus_01_dot_29_bar__plus_00_dot_93_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Plate_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle DishSponge_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_34 Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30) + (inReceptacle Kettle_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (inReceptacle Cup_bar__plus_00_dot_39_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle SoapBottle_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_23 Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle DishSponge_bar__minus_00_dot_54_bar__plus_00_dot_11_bar__minus_01_dot_47 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle SaltShaker_bar__plus_01_dot_66_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Fork_bar__plus_01_dot_91_bar__plus_00_dot_91_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Plate_bar__plus_01_dot_61_bar__plus_01_dot_33_bar__minus_01_dot_81 Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacleObject Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_44 Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58) + (inReceptacleObject Knife_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_35 Pot_bar__minus_02_dot_38_bar__plus_00_dot_94_bar__plus_00_dot_58) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_43_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Egg_bar__minus_00_dot_33_bar__plus_00_dot_11_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle SoapBottle_bar__minus_00_dot_39_bar__plus_00_dot_07_bar__plus_00_dot_53 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Bowl_bar__minus_02_dot_31_bar__plus_00_dot_78_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Apple_bar__minus_02_dot_14_bar__plus_00_dot_85_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Potato_bar__minus_01_dot_96_bar__plus_01_dot_08_bar__minus_01_dot_76 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45) + (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_02_dot_20_bar__plus_00_dot_95_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation Egg_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spatula_bar__plus_00_dot_17_bar__plus_00_dot_93_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Plate_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation SoapBottle_bar__minus_00_dot_39_bar__plus_00_dot_07_bar__plus_00_dot_53 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Tomato_bar__plus_00_dot_91_bar__plus_00_dot_97_bar__minus_01_dot_52 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation 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Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__plus_01_dot_79_bar__plus_00_dot_77_bar__plus_00_dot_34 loc_bar_6_bar__minus_1_bar_0_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_86_bar__plus_00_dot_92_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation Mug_bar__plus_00_dot_96_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190907_065350_357576/traj_data.json 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", + "Pick up the spoon next to the sink. ", + "Turn around 180 degrees and walk to the counter.", + "Open the drawer and put the spoon inside, closing the drawer after. ", + "Walk to the table located in the corner of the room.", + "Pick up the spoon on the table. ", + "Turn around 180 degrees and walk back towards the drawer from step 4.", + "Open the drawer and put the spoon inside, closing the drawer after. " + ], + "task_desc": "Put two spoons from the kitchen into a drawer. ", + "votes": [ + 0, + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1MKCTVKE7J0ZP_3JNQLM5FT739C9KCSLWK0ZISERFL28", + "high_descs": [ + "Turn around and go to the sink.", + "Pick up the spoon at the sink.", + "Turn around to face the coffee maker, then turn left.", + "Put the spoon in the left most drawer.", + "Go forward then turn right, then turn left to approach the table.", + "Pick up the spoon on the table, next to the egg.", + "Turn around and return to the drawer with the spoon in it.", + "Place the spoon in the drawer, next to the other stone." + ], + "task_desc": "Put two spoons in a drawer.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1ZE52NWZPN85P_3QEMNNSB20GX0YTQLGFRDDRVG3F7DK", + "high_descs": [ + "Turn around until you get to the sink, then turn to your right and face it", + "Pick up a spoon off of the kitchen counter", + "Turn around and face the other way, then turn to your left", + "Open the kitchen drawer, place the spoon in it and then close it.", + "Turn left, then right towards the wall, then face left at the white table", + "Pick a spoon up off of the white table", + "Go back to where you were before at the drawer", + "Open the kitchen drawer, place the other spoon in it and then close it." + ], + "task_desc": "Place 2 spoons in the kitchen drawer", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..7ab27ef4a4746c26841e58c1a9d8f4eae0be1e8d --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/initial_state.pddl @@ -0,0 +1,1042 @@ + +(define (problem plan_trial_T20190918_143314_784072) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_66_bar__plus_00_dot_98_bar__plus_00_dot_38 - object + Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21 - object + Apple_bar__minus_00_dot_98_bar__plus_01_dot_08_bar__minus_01_dot_80 - object + Bowl_bar__plus_00_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_55 - object + Bowl_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_85 - object + Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 - object + ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_26 - object + ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__minus_02_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_81 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Spoon_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_72 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__minus_02_dot_05_bar__plus_00_dot_56_bar__minus_01_dot_68 - object + Tomato_bar__minus_02_dot_34_bar__plus_01_dot_00_bar__plus_00_dot_17 - object + Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object + Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + 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StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle + loc_bar_5_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_4_bar_0_bar_45 - location + loc_bar_6_bar__minus_4_bar_3_bar_15 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_4_bar_3_bar_60 - location + loc_bar_6_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_10_bar__minus_4_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType) + (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType) + (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType) + (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType) + (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType) + (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType) + (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType) + (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType) + (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType) + (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType) + (receptacleType Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType) + (receptacleType Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType) + (receptacleType 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Knife_bar__plus_00_dot_86_bar__plus_00_dot_94_bar__minus_01_dot_58) + (cleanable Spatula_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_70) + (cleanable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62) + (cleanable DishSponge_bar__plus_00_dot_56_bar__plus_00_dot_11_bar__plus_00_dot_35) + (cleanable Egg_bar__plus_00_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_29) + (cleanable Bowl_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_85) + (cleanable Lettuce_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26) + (cleanable Kettle_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_49) + (cleanable Spoon_bar__plus_00_dot_75_bar__plus_00_dot_92_bar__minus_01_dot_45) + (cleanable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_35) + (cleanable Cup_bar__minus_02_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_81) + (cleanable Fork_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_35) + (cleanable Spatula_bar__minus_01_dot_93_bar__plus_00_dot_97_bar__plus_00_dot_17) + (cleanable Tomato_bar__minus_02_dot_34_bar__plus_01_dot_00_bar__plus_00_dot_17) + (cleanable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_21) + (cleanable ButterKnife_bar__minus_02_dot_61_bar__plus_00_dot_95_bar__plus_00_dot_26) + (cleanable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_70) + (cleanable Apple_bar__minus_00_dot_98_bar__plus_01_dot_08_bar__minus_01_dot_80) + (cleanable Fork_bar__plus_00_dot_45_bar__plus_00_dot_77_bar__plus_00_dot_31) + (cleanable Spatula_bar__plus_01_dot_66_bar__plus_00_dot_93_bar__minus_01_dot_65) + (cleanable Potato_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (cleanable Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51) + (cleanable Knife_bar__plus_01_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_74) + (cleanable ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65) + (cleanable Tomato_bar__minus_02_dot_05_bar__plus_00_dot_56_bar__minus_01_dot_68) + (cleanable Knife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__minus_01_dot_65) + (cleanable Mug_bar__minus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_85) + (cleanable Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21) + + (heatable Plate_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32) + (heatable Egg_bar__plus_00_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_29) + (heatable Cup_bar__minus_02_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_81) + (heatable Tomato_bar__minus_02_dot_34_bar__plus_01_dot_00_bar__plus_00_dot_17) + (heatable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_21) + (heatable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_70) + (heatable Apple_bar__minus_00_dot_98_bar__plus_01_dot_08_bar__minus_01_dot_80) + (heatable Potato_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26) + (heatable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (heatable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (heatable Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51) + (heatable Tomato_bar__minus_02_dot_05_bar__plus_00_dot_56_bar__minus_01_dot_68) + (heatable Mug_bar__minus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_85) + (heatable Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21) + (coolable Bowl_bar__plus_00_dot_27_bar__plus_00_dot_11_bar__minus_01_dot_55) + (coolable Plate_bar__plus_00_dot_07_bar__plus_00_dot_11_bar__plus_00_dot_32) + (coolable Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62) + (coolable Egg_bar__plus_00_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_29) + (coolable Bowl_bar__plus_01_dot_83_bar__plus_01_dot_33_bar__minus_01_dot_85) + (coolable Lettuce_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26) + (coolable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_35) + (coolable Cup_bar__minus_02_dot_14_bar__plus_01_dot_05_bar__minus_01_dot_81) + (coolable Tomato_bar__minus_02_dot_34_bar__plus_01_dot_00_bar__plus_00_dot_17) + (coolable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_21) + (coolable Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (coolable Mug_bar__minus_01_dot_79_bar__plus_00_dot_95_bar__plus_00_dot_70) + (coolable Apple_bar__minus_00_dot_98_bar__plus_01_dot_08_bar__minus_01_dot_80) + (coolable Potato_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26) + (coolable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (coolable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (coolable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (coolable Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51) + (coolable Tomato_bar__minus_02_dot_05_bar__plus_00_dot_56_bar__minus_01_dot_68) + (coolable Mug_bar__minus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_85) + (coolable Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21) + + + + + + (sliceable Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62) + (sliceable Egg_bar__plus_00_dot_17_bar__plus_00_dot_95_bar__plus_00_dot_29) + (sliceable Lettuce_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_26) + (sliceable Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_35) + (sliceable Tomato_bar__minus_02_dot_34_bar__plus_01_dot_00_bar__plus_00_dot_17) + (sliceable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_21) + (sliceable Apple_bar__minus_00_dot_98_bar__plus_01_dot_08_bar__minus_01_dot_80) + (sliceable Potato_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26) + (sliceable Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38) + (sliceable Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53) + (sliceable Tomato_bar__minus_02_dot_05_bar__plus_00_dot_56_bar__minus_01_dot_68) + (sliceable Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21) + + (inReceptacle Mug_bar__minus_00_dot_64_bar__plus_01_dot_32_bar__minus_01_dot_85 Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65) + (inReceptacle Spatula_bar__minus_02_dot_07_bar__plus_00_dot_97_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45) + (inReceptacle Potato_bar__minus_02_dot_48_bar__plus_00_dot_98_bar__plus_00_dot_26 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CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__plus_01_dot_30_bar__plus_00_dot_98_bar__minus_01_dot_53 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Knife_bar__plus_01_dot_54_bar__plus_00_dot_94_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle SoapBottle_bar__minus_00_dot_45_bar__plus_00_dot_91_bar__minus_01_dot_82 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Knife_bar__minus_00_dot_27_bar__plus_00_dot_94_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Kettle_bar__minus_00_dot_36_bar__plus_00_dot_91_bar__minus_01_dot_49 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Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle Plate_bar__minus_00_dot_63_bar__plus_00_dot_11_bar__minus_01_dot_51 Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35) + (inReceptacle Lettuce_bar__plus_01_dot_79_bar__plus_01_dot_00_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle PaperTowelRoll_bar__plus_01_dot_97_bar__plus_01_dot_02_bar__plus_00_dot_71 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_01_dot_66_bar__plus_00_dot_98_bar__plus_00_dot_38 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Apple_bar__plus_01_dot_79_bar__plus_00_dot_98_bar__plus_00_dot_21 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(receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45) + (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60) + (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (receptacleAtLocation 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb03d9825fb9dee961b49d38fbf1a826abf3ca0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143314_784072/traj_data.json @@ -0,0 +1,5572 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": 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"x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Apple_41d4caea", + "position": { + "x": 1.66300225, + "y": 0.9794513, + "z": 0.3752191 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "ButterKnife_d4975865", + "position": { + "x": -2.61406946, + "y": 0.9522671, + "z": 0.255149245 + }, + "rotation": { + "x": 0.0, + "y": 270.0, + "z": 0.0 + } + }, + { + "objectName": "Potato_483d2614", + "position": { + "x": -2.47704625, + "y": 0.9820612, + "z": 0.255149275 + }, + "rotation": { + "x": 0.0, + "y": 90.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4b842b85", + "position": { + "x": 1.022105, + "y": 0.9591456, + "z": 0.288545281 + }, + "rotation": { + "x": 0.0, + "y": 219.19072, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_932ef12a", + "position": { + "x": 0.5628937, + "y": 0.10975033, + "z": 0.346097678 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9fcd93ca", + "position": { + "x": 0.753195047, + "y": 0.9206794, + "z": -1.71562362 + }, + "rotation": { + "x": 0.0, + "y": 6.83018925e-06, + "z": 0.0 + } + }, + { + "objectName": "Mug_841024df", + "position": { + "x": -0.6440377, + "y": 1.32373488, + "z": -1.8463949 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 1260422726, + "scene_num": 11 + }, + "task_id": "trial_T20190918_143314_784072", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A1GVTH5YS3WOK0_304SM51WA6LQ4ZFYVNMWDEZR0RGBSU", + "high_descs": [ + "Walk straight and then turn right to face the sink.", + "Pick pick up the spoon to the left of the knife on the sink.", + "Turn around, head towards the coffee maker, and then turn left to face the drawer on your right hand.", + "Pull out the drawer and place the spoon inside.", + "Turn left and walk towards the sink.", + "Pick up the other spoon on the sink.", + "Turn around, head towards the coffee maker, and then turn left to face the drawer on your right hand.", + "Pull out the drawer and place the spoon inside." + ], + "task_desc": "Place the two spoons in the drawer at the counter edge.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 0 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_35USIKEBNUXNIA6YR0O2343TZQKN6U", + "high_descs": [ + "Move to the left of the sink in front and to the right of you.", + "Pick up a spoon from the sink.", + "Move to the counter space behind you to the left of the stove.", + "Place the spoon inside the drawer farthest away from you and close the drawer.", + "Move to the sink to the left of you.", + "Pick up a spoon from the sink.", + "Move to the counter space behind you to the left of the stove.", + "Place the spoon inside the drawer farthest away from you and close the drawer." + ], + "task_desc": "Put the spoons from the sink in the drawer on the left farthest away on stove side.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_3IXEICO7950LDNBIOWAEC39LO1RT68", + "high_descs": [ + "Walk straight in the kitchen and then turn right facing the sink", + "Pick up the metal spoon from the sink", + "Turn around to counter behind you ", + "Open last drawer, place spoon inside and close back", + "Turn back around and face the kitchen sink", + "Pick up another metal spoon from the sink", + "Turn around to counter behind you ", + "Open last drawer, place spoon inside and close back" + ], + "task_desc": "Put clean spoon away in the drawer.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A3UF6XXFFRR237_3RUIQRXJBE5FDV6K2REPFVH1KUDLLA", + "high_descs": [ + "Walk straight ahead toward the window to approach the sink on the right.", + "Pick up the spoon from the left side of the sink.", + "Turn directly around to approach the last drawer on your right under the counter.", + "Open the drawer, place the spoon inside and close the drawer.", + "Turn to your left and approach the sink again.", + "Pick up the last spoon on the counter.", + "Turn around and walk back to the same drawer you put the first spoon into.", + "Open the drawer and put the second spoon next to the first spoon and close the drawer again." + ], + "task_desc": "Put spoons away in the drawer.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1OWHPMKE7YAGL_31Z0PCVWUNW4HNPN76F6IH9HJOST7C", + "high_descs": [ + "Go forward to the sink that will be on your right. ", + "On the left side of the sink, pick up the spoon that is closest to the faucet.", + "Turn around and head to the cabinet with the toaster on it. ", + "Open the drawer on the far left side of the cabinet, put the spoon inside, and close the drawer. ", + "Turn around and head back to the sink.", + "On the left side of the sink, pick up the spoon. ", + "Turn around and go back to the cabinet with the toaster on it.", + "Open the far left drawer, put the spoon inside, and close the drawer. " + ], + "task_desc": "Put two spoons in a drawer. ", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..f96b43c3fa9df63433320578f384ec7c303c9b23 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/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 spoon in drawer.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190918_143344_541468)\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_91_bar__plus_00_dot_99_bar__minus_01_dot_72 - object\n Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 - object\n Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 - object\n Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 - object\n Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 - object\n ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object\n Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object\n Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 - object\n Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 - object\n Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 - object\n DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 - object\n Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 - object\n Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 - object\n Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object\n Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 - object\n Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 - object\n Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 - object\n Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 - object\n Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 - object\n LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object\n Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 - object\n Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 - object\n Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object\n PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 - object\n PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 - object\n PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 - object\n PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 - object\n Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 - object\n Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 - object\n Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 - object\n Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object\n SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 - object\n Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object\n SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 - object\n 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loc_bar_4_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location\n loc_bar_1_bar__minus_4_bar_2_bar_60 - location\n loc_bar_3_bar__minus_4_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_2_bar__minus_4_bar_3_bar_60 - location\n loc_bar_6_bar__minus_4_bar_2_bar_0 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location\n loc_bar_4_bar__minus_1_bar_0_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location\n loc_bar_1_bar__minus_2_bar_2_bar_60 - location\n loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location\n loc_bar_6_bar__minus_2_bar_1_bar_15 - location\n loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location\n loc_bar_5_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar_0_bar_0_bar_60 - location\n loc_bar_4_bar__minus_3_bar_0_bar_60 - location\n loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location\n loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location\n loc_bar_2_bar__minus_4_bar_2_bar_0 - location\n loc_bar_3_bar__minus_2_bar_2_bar_60 - location\n loc_bar_6_bar__minus_1_bar_0_bar_60 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location\n loc_bar_2_bar__minus_1_bar_0_bar_45 - location\n loc_bar__minus_2_bar__minus_3_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType)\n (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 DrawerType)\n (receptacleType CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 CounterTopType)\n (receptacleType CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 CounterTopType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 MicrowaveType)\n (receptacleType StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurnerType)\n (receptacleType Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 CabinetType)\n (receptacleType CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 CoffeeMachineType)\n (receptacleType Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType)\n (receptacleType Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 CabinetType)\n (receptacleType Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 CabinetType)\n (receptacleType Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 FridgeType)\n (receptacleType Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 ToasterType)\n (receptacleType 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DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45)\n (inReceptacle Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35)\n (inReceptacle Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65)\n (inReceptacle Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56)\n (inReceptacle Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15)\n (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29)\n (inReceptacle DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50)\n (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46)\n (inReceptacle Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72)\n (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54)\n (inReceptacle Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacle Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69)\n (inReceptacleObject ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72)\n \n \n (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_4_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_5_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (receptacleAtLocation Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_4_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar__minus_6_bar__minus_2_bar_2_bar_60)\n (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45)\n (receptacleAtLocation Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_6_bar__minus_1_bar_0_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_2_bar__minus_4_bar_3_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar__minus_5_bar__minus_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (receptacleAtLocation Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (receptacleAtLocation Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (receptacleAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 loc_bar_3_bar__minus_2_bar_2_bar_60)\n (objectAtLocation Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60)\n (objectAtLocation Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60)\n (objectAtLocation Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45)\n (objectAtLocation Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 loc_bar_6_bar__minus_4_bar_3_bar_15)\n (objectAtLocation Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 loc_bar__minus_9_bar__minus_3_bar_3_bar_30)\n (objectAtLocation Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 loc_bar_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15)\n (objectAtLocation Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60)\n (objectAtLocation Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45)\n (objectAtLocation SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 loc_bar__minus_2_bar__minus_4_bar_2_bar_0)\n (objectAtLocation Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n (objectAtLocation ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_3_bar__minus_4_bar_2_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60)\n (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60)\n (objectAtLocation Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_4_bar_2_bar_45)\n (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60)\n (objectAtLocation DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_3_bar_3_bar_45)\n (objectAtLocation Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45)\n (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 SpoonType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 SpoonType)\n (receptacleType ?r DrawerType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to countertop 2", "take spoon 3 from countertop 2", "go to drawer 1", "move spoon 3 to drawer 1", "go to countertop 2", "take spoon 2 from countertop 2", "go to drawer 1", "move spoon 2 to drawer 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..2a51023981ff45bac164683f9b985cce37a237ae --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/initial_state.pddl @@ -0,0 +1,1024 @@ + +(define (problem plan_trial_T20190918_143344_541468) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + 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_91_bar__plus_00_dot_99_bar__minus_01_dot_72 - object + Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 - object + Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 - object + Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 - object + Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35 - object + ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 - object + Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 - object + Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41 - object + Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70 - object + Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 - object + DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 - object + Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 - object + Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 - object + Faucet_bar__plus_00_dot_55_bar__plus_01_dot_05_bar__minus_01_dot_83 - object + Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Kettle_bar__minus_02_dot_48_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Knife_bar__plus_00_dot_04_bar__plus_00_dot_94_bar__plus_00_dot_29 - object + Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 - object + Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35 - object + Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 - object + Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 - object + LightSwitch_bar__minus_02_dot_76_bar__plus_01_dot_31_bar__minus_00_dot_99 - object + Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 - object + Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 - object + Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 - object + PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 - object + PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 - object + PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 - object + PepperShaker_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_52 - object + Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 - object + Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 - object + Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 - object + Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + Pot_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - object + SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 - object + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 - object + SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 - object + Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 - object + Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 - object + Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 - object + Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 - object + Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 - object + StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 - object + Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58 - object + Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 - object + Window_bar__plus_00_dot_58_bar__plus_01_dot_61_bar__minus_01_dot_97 - object + Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 - object + Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_00_dot_73_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_08_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__plus_01_dot_67_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__plus_01_dot_97_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15 - receptacle + Cabinet_bar__minus_00_dot_19_bar__plus_01_dot_69_bar__minus_01_dot_65 - receptacle + Cabinet_bar__minus_00_dot_40_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + Cabinet_bar__minus_00_dot_82_bar__plus_00_dot_40_bar__minus_01_dot_35 - receptacle + CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 - receptacle + CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 - receptacle + CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 - receptacle + DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 - receptacle + Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__plus_01_dot_83_bar__plus_00_dot_79_bar__plus_00_dot_30 - receptacle + Drawer_bar__minus_00_dot_15_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_00_dot_59_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50 - receptacle + Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69 - receptacle + GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 - receptacle + Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72 - receptacle + Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 - receptacle + StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 - receptacle + Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 - receptacle + loc_bar_5_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_4_bar_0_bar_45 - location + loc_bar_6_bar__minus_4_bar_3_bar_15 - location + loc_bar_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_1_bar__minus_1_bar_0_bar_45 - location + loc_bar_0_bar__minus_3_bar_3_bar_45 - location + loc_bar_4_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_2_bar_60 - location + loc_bar_1_bar__minus_4_bar_2_bar_60 - location + loc_bar_3_bar__minus_4_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_6_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_2_bar__minus_4_bar_3_bar_60 - location + loc_bar_6_bar__minus_4_bar_2_bar_0 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_60 - location + loc_bar_4_bar__minus_1_bar_0_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_9_bar__minus_3_bar_3_bar_30 - location + loc_bar_1_bar__minus_2_bar_2_bar_60 - location + loc_bar__minus_1_bar__minus_2_bar_0_bar_45 - location + loc_bar_6_bar__minus_2_bar_1_bar_15 - location + loc_bar__minus_4_bar__minus_2_bar_2_bar_60 - location + loc_bar_5_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar_0_bar_0_bar_60 - location + loc_bar_4_bar__minus_3_bar_0_bar_60 - location + loc_bar__minus_4_bar__minus_4_bar_2_bar_45 - location + loc_bar__minus_9_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_5_bar__minus_4_bar_1_bar_45 - location + loc_bar_2_bar__minus_4_bar_2_bar_0 - location + loc_bar_3_bar__minus_2_bar_2_bar_60 - location + loc_bar_6_bar__minus_1_bar_0_bar_60 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_60 - location + loc_bar_2_bar__minus_1_bar_0_bar_45 - location + loc_bar__minus_2_bar__minus_3_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 DrawerType) + (receptacleType GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54 GarbageCanType) + (receptacleType StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 StoveBurnerType) + (receptacleType 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Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56) + (cleanable Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32) + (cleanable Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29) + (cleanable Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21) + (cleanable Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49) + (cleanable Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29) + (cleanable Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17) + (cleanable ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65) + (cleanable Knife_bar__minus_02_dot_34_bar__plus_00_dot_98_bar__plus_00_dot_35) + (cleanable DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85) + (cleanable DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51) + (cleanable Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81) + (cleanable Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81) + + (heatable Cup_bar__minus_02_dot_07_bar__plus_00_dot_95_bar__plus_00_dot_52) + (heatable Bread_bar__minus_02_dot_07_bar__plus_01_dot_04_bar__plus_00_dot_35) + (heatable Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29) + (heatable Tomato_bar__plus_00_dot_86_bar__plus_00_dot_97_bar__minus_01_dot_58) + (heatable Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58) + (heatable Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62) + (heatable Cup_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_41) + (heatable Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72) + (heatable Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72) + (heatable Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74) + (heatable Cup_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_70) + (heatable 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SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Bread_bar__plus_01_dot_78_bar__plus_01_dot_00_bar__minus_01_dot_57 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65) + (inReceptacle 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Cabinet_bar__minus_00_dot_18_bar__plus_00_dot_40_bar__plus_00_dot_15) + (inReceptacle Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29) + (inReceptacle DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 Drawer_bar__minus_01_dot_10_bar__plus_00_dot_79_bar__minus_01_dot_50) + (inReceptacle Plate_bar__plus_01_dot_72_bar__plus_00_dot_91_bar__plus_00_dot_62 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46) + (inReceptacle Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 Microwave_bar__minus_01_dot_04_bar__plus_00_dot_90_bar__minus_01_dot_72) + (inReceptacle SoapBottle_bar__minus_00_dot_33_bar__plus_00_dot_07_bar__plus_00_dot_61 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 GarbageCan_bar__minus_00_dot_36_bar__plus_00_dot_00_bar__plus_00_dot_54) + (inReceptacle Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacle Plate_bar__minus_02_dot_31_bar__plus_00_dot_51_bar__minus_01_dot_81 Fridge_bar__minus_02_dot_14_bar__plus_00_dot_00_bar__minus_01_dot_69) + (inReceptacleObject ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72) + + + (receptacleAtLocation Cabinet_bar__plus_00_dot_06_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_1_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation Cabinet_bar__plus_00_dot_10_bar__plus_00_dot_40_bar__minus_01_dot_35 loc_bar_3_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation 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loc_bar__minus_6_bar__minus_2_bar_2_bar_60) + (receptacleAtLocation CoffeeMachine_bar__plus_00_dot_62_bar__plus_00_dot_90_bar__plus_00_dot_60 loc_bar_2_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_00_dot_28_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_1_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__plus_01_dot_78_bar__plus_00_dot_95_bar__plus_00_dot_46 loc_bar_6_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation CounterTop_bar__minus_00_dot_68_bar__plus_00_dot_95_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (receptacleAtLocation DiningTable_bar__minus_02_dot_20_bar__plus_00_dot_99_bar__plus_00_dot_45 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_02_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar__minus_1_bar__minus_2_bar_0_bar_45) + (receptacleAtLocation Drawer_bar__plus_00_dot_50_bar__plus_00_dot_79_bar__plus_00_dot_30 loc_bar_1_bar__minus_2_bar_0_bar_45) + 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Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77_bar_SinkBasin loc_bar_1_bar__minus_4_bar_2_bar_60) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation StoveBurner_bar__plus_01_dot_36_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_5_bar__minus_1_bar_0_bar_45) + (receptacleAtLocation Toaster_bar__plus_00_dot_31_bar__plus_00_dot_90_bar__plus_00_dot_55 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_15_bar__plus_00_dot_10_bar__minus_01_dot_58 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation Spoon_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation DishSponge_bar__minus_00_dot_34_bar__plus_01_dot_33_bar__minus_01_dot_85 loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation PepperShaker_bar__plus_00_dot_27_bar__plus_00_dot_10_bar__minus_01_dot_43 loc_bar_3_bar__minus_2_bar_2_bar_60) + (objectAtLocation Lettuce_bar__minus_01_dot_79_bar__plus_01_dot_04_bar__plus_00_dot_26 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Egg_bar__plus_01_dot_54_bar__plus_00_dot_95_bar__minus_01_dot_49 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Pot_bar__plus_01_dot_01_bar__plus_00_dot_96_bar__plus_00_dot_56 loc_bar_4_bar__minus_1_bar_0_bar_45) + (objectAtLocation Plate_bar__plus_00_dot_02_bar__plus_00_dot_11_bar__plus_00_dot_32 loc_bar__minus_2_bar__minus_3_bar_0_bar_60) + (objectAtLocation Tomato_bar__minus_02_dot_22_bar__plus_01_dot_54_bar__minus_01_dot_81 loc_bar__minus_9_bar__minus_3_bar_2_bar_60) + (objectAtLocation 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loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spoon_bar__minus_01_dot_93_bar__plus_00_dot_95_bar__plus_00_dot_61 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Spoon_bar__plus_01_dot_29_bar__plus_00_dot_91_bar__minus_01_dot_74 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Sink_bar__plus_00_dot_71_bar__plus_00_dot_82_bar__minus_01_dot_77 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Bread_bar__minus_00_dot_45_bar__plus_01_dot_00_bar__minus_01_dot_65 loc_bar_6_bar__minus_4_bar_3_bar_15) + (objectAtLocation Knife_bar__plus_00_dot_17_bar__plus_00_dot_94_bar__plus_00_dot_54 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Fork_bar__minus_02_dot_34_bar__plus_00_dot_95_bar__plus_00_dot_52 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation Bowl_bar__plus_01_dot_83_bar__plus_00_dot_11_bar__plus_00_dot_31 loc_bar_6_bar__minus_4_bar_0_bar_45) + (objectAtLocation 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(objectAtLocation Window_bar__plus_01_dot_97_bar__plus_01_dot_50_bar__minus_00_dot_62 loc_bar_6_bar__minus_2_bar_1_bar_15) + (objectAtLocation Spatula_bar__minus_02_dot_20_bar__plus_00_dot_97_bar__plus_00_dot_17 loc_bar__minus_9_bar__minus_1_bar_0_bar_45) + (objectAtLocation PaperTowelRoll_bar__minus_00_dot_30_bar__plus_00_dot_17_bar__plus_00_dot_44 loc_bar__minus_2_bar_0_bar_0_bar_60) + (objectAtLocation Egg_bar__plus_00_dot_30_bar__plus_00_dot_95_bar__plus_00_dot_29 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Lettuce_bar__plus_01_dot_85_bar__plus_01_dot_00_bar__plus_00_dot_29 loc_bar_6_bar__minus_1_bar_0_bar_45) + (objectAtLocation SaltShaker_bar__plus_00_dot_17_bar__plus_00_dot_91_bar__plus_00_dot_62 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation PepperShaker_bar__minus_00_dot_49_bar__plus_01_dot_33_bar__minus_01_dot_88 loc_bar__minus_2_bar__minus_4_bar_2_bar_0) + (objectAtLocation Apple_bar__plus_00_dot_91_bar__plus_00_dot_99_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + (objectAtLocation ButterKnife_bar__plus_00_dot_70_bar__plus_00_dot_92_bar__minus_01_dot_65 loc_bar_3_bar__minus_4_bar_2_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_25_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_37_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_00_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_4_bar__minus_1_bar_0_bar_60) + (objectAtLocation StoveKnob_bar__plus_01_dot_13_bar__plus_00_dot_91_bar__plus_00_dot_12 loc_bar_5_bar__minus_1_bar_0_bar_60) + (objectAtLocation Potato_bar__minus_01_dot_03_bar__plus_01_dot_05_bar__minus_01_dot_74 loc_bar__minus_4_bar__minus_4_bar_2_bar_45) + (objectAtLocation Pan_bar__plus_01_dot_02_bar__plus_00_dot_96_bar__plus_00_dot_29 loc_bar_4_bar__minus_1_bar_0_bar_45) + (objectAtLocation Chair_bar__minus_02_dot_42_bar__plus_00_dot_56_bar__plus_00_dot_41 loc_bar__minus_9_bar__minus_1_bar_0_bar_60) + (objectAtLocation DishSponge_bar__minus_00_dot_97_bar__plus_00_dot_77_bar__minus_01_dot_51 loc_bar_0_bar__minus_3_bar_3_bar_45) + (objectAtLocation Spoon_bar__plus_00_dot_43_bar__plus_00_dot_91_bar__plus_00_dot_21 loc_bar_1_bar__minus_1_bar_0_bar_45) + (objectAtLocation Mug_bar__plus_00_dot_70_bar__plus_00_dot_91_bar__minus_01_dot_72 loc_bar_1_bar__minus_4_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 SpoonType) + (receptacleType ?r DrawerType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-Spoon-None-Drawer-11/trial_T20190918_143344_541468/traj_data.json 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1.04528785, + "z": -1.737914 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Pan_4b842b85", + "position": { + "x": 1.022105, + "y": 0.9591456, + "z": 0.288545281 + }, + "rotation": { + "x": 0.0, + "y": 219.19072, + "z": 0.0 + } + }, + { + "objectName": "DishSponge_932ef12a", + "position": { + "x": -0.343955278, + "y": 1.32829916, + "z": -1.8463949 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + }, + { + "objectName": "Spoon_9fcd93ca", + "position": { + "x": 0.167712927, + "y": 0.9134294, + "z": 0.292338252 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Mug_841024df", + "position": { + "x": 0.1480381, + "y": 0.103686094, + "z": -1.58489537 + }, + "rotation": { + "x": 0.0, + "y": 180.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 114949255, + "scene_num": 11 + }, + "task_id": "trial_T20190918_143344_541468", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3T9K2RY06UO14_33L7PJKHCJF8H1U6HB7CWH5CU108T2", + "high_descs": [ + "Go to the counter to the left of the stove", + "Pick up a spoon from the counter.", + "Turn around and go to the drawer.", + "Put the spoon in the drawer under the counter.", + "Go to the counter to the left of the stove", + "Pick up a spoon from the counter.", + "Turn around and go to the drawer.", + "Turn around and put the spoon in the drawer. " + ], + "task_desc": "Move the spoons from the counter to the drawer.", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1, + 0, + 1 + ] + }, + { + "assignment_id": "A11LSO6D7BMY99_34J10VATJIFOERER9TP841O3DR5IQ7", + "high_descs": [ + "turn to your right go to the counter with spoons and an egg on it", + "pick up the spoon that is on the left", + "open the drawer that is to your left under the yellow knife", + "put the spoon inside that drawer", + "close the drawer and face the counter top again", + "pick up the other spoon on the counter top", + "turn and open the drawer to your left again", + "place the other spoon into the drawer close the drawer" + ], + "task_desc": "Put two spoons into a drawer", + "votes": [ + 1, + 1, + 1, + 1, + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A16184N1RO5OJV_3YOH7BII0CO7PU0WVV4UN42OMNLVK1", + "high_descs": [ + "Walk slightly to the right and go to the first cabinet on your right that has a toaster on it. ", + "Pick up the spoon next to the knife on the counter top. ", + "Bring the spoon and walk to the first cabinet again. ", + "Open the drawer of the cabinet under the knife, put the spoon in it and close the drawer. ", + "Turn to face the counter top again. ", + "Pick up another spoon next to the egg. ", + "Walk to the right and go to the first cabinet again. ", + "Open the drawer that has the first knife in it, pot the spoon inside and close the drawer. " + ], + "task_desc": "Put both knives that are near the toaster to the drawer underneath the knife. ", + "votes": [ + 1, + 0, + 1, + 1, + 0, + 1, + 0, + 1, + 1 + ] + }, + { + "assignment_id": "A2JBNDG0U9IA6I_33C7UALJVOF78HIXFSN2QBMH2Q9182", + "high_descs": [ + "Turn to the right and walk into the kitchen then face the left counter", + "Pick up the metal spoon from the counter", + "Turn to the left and face the drawer to the left", + "Open the drawer and place the spoon inside and close it", + "Turn to the right and face the counter", + "Pick up the metal spoon from the counter", + "Turn to the left and face the drawer to the left", + "Open the drawer and place the spoon inside and close it" + ], + "task_desc": "Putting away metal spoons in the drawer", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..aee447a38e89ee5d841079ab35d6cc558d871b44 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/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 coffeetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_145607_044709)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 - object\n Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 - object\n Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 - object\n Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 - object\n CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 - object\n CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 - object\n FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 - object\n HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 - object\n KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 - object\n KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 - object\n Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 - object\n LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 - object\n Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 - object\n Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 - object\n RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 - object\n RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 - object\n Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 - object\n Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 - object\n TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 - object\n TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 - object\n Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 - receptacle\n CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 - receptacle\n DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 - receptacle\n DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 - receptacle\n Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 - receptacle\n SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 - receptacle\n Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 - receptacle\n Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 - receptacle\n TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 - receptacle\n loc_bar__minus_11_bar_2_bar_2_bar_60 - location\n loc_bar__minus_21_bar_1_bar_2_bar_60 - location\n loc_bar__minus_21_bar_1_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_15 - location\n loc_bar__minus_6_bar_15_bar_1_bar_60 - location\n loc_bar__minus_10_bar_2_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_1_bar_60 - location\n loc_bar__minus_22_bar_12_bar_3_bar_30 - location\n loc_bar__minus_4_bar_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_11_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_11_bar_0_bar_30 - location\n loc_bar__minus_8_bar_14_bar_0_bar_60 - location\n loc_bar__minus_3_bar_15_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_60 - location\n loc_bar__minus_5_bar_15_bar_0_bar_60 - location\n loc_bar__minus_17_bar_1_bar_2_bar_60 - location\n loc_bar__minus_17_bar_1_bar_2_bar_0 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_4_bar_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_15_bar_10_bar_0_bar_45 - location\n loc_bar__minus_23_bar_15_bar_2_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 SideTableType)\n (receptacleType CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 CoffeeTableType)\n (receptacleType Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 SofaType)\n (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 DiningTableType)\n (receptacleType Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 DresserType)\n (receptacleType Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 SofaType)\n (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 DiningTableType)\n (receptacleType TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 TVStandType)\n (receptacleType GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 DrawerType)\n (receptacleType ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 DrawerType)\n (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 PaintingType)\n (objectType TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 TissueBoxType)\n (objectType HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 HousePlantType)\n (objectType CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 CreditCardType)\n (objectType KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 KeyChainType)\n (objectType RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 RemoteControlType)\n (objectType KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 KeyChainType)\n (objectType Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 ChairType)\n (objectType Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 BootsType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 LightSwitchType)\n (objectType RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 RemoteControlType)\n (objectType Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TelevisionType)\n (objectType TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 TissueBoxType)\n (objectType Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 StatueType)\n (objectType CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 CreditCardType)\n (objectType Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 PaintingType)\n (objectType Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (objectType FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 FloorLampType)\n (objectType Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 BoxType)\n (objectType Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 LaptopType)\n (objectType Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 PillowType)\n (objectType Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (objectType Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 CandleType)\n (canContain SideTableType CandleType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain DresserType CandleType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain TVStandType TissueBoxType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\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 CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (pickupable TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44)\n (pickupable CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35)\n (pickupable KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12)\n (pickupable RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85)\n (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10)\n (pickupable Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (pickupable RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78)\n (pickupable TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32)\n (pickupable Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04)\n (pickupable CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44)\n (pickupable Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28)\n (pickupable Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09)\n (pickupable Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75)\n (pickupable Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11)\n (isReceptacleObject Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61)\n \n (atLocation agent1 loc_bar__minus_23_bar_15_bar_2_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47)\n \n \n \n \n (inReceptacle Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89)\n (inReceptacle RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12)\n (inReceptacle TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52)\n (inReceptacle HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52)\n (inReceptacle Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98)\n (inReceptacle KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22)\n (inReceptacle CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 loc_bar__minus_8_bar_14_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 loc_bar__minus_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 loc_bar__minus_3_bar_11_bar_0_bar_30)\n (receptacleAtLocation Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 loc_bar__minus_21_bar_1_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 loc_bar__minus_11_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 loc_bar__minus_15_bar_10_bar_0_bar_45)\n (receptacleAtLocation TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 loc_bar__minus_2_bar_8_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 loc_bar__minus_5_bar_15_bar_0_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 loc_bar__minus_2_bar_8_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 loc_bar__minus_22_bar_12_bar_3_bar_30)\n (objectAtLocation TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 loc_bar__minus_8_bar_14_bar_0_bar_60)\n (objectAtLocation Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 loc_bar__minus_3_bar_15_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 loc_bar__minus_21_bar_1_bar_2_bar__minus_15)\n (objectAtLocation Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 loc_bar__minus_11_bar_2_bar_2_bar_60)\n (objectAtLocation Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 loc_bar__minus_15_bar_10_bar_0_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 loc_bar__minus_17_bar_1_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_17_bar_1_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_4_bar__minus_1_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_10_bar_2_bar_2_bar_0)\n (objectAtLocation Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 loc_bar__minus_11_bar_9_bar_2_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take tissuebox 1 from dresser 1", "go to coffeetable 1", "move tissuebox 1 to coffeetable 1", "go to sidetable 1", "take tissuebox 2 from sidetable 1", "go to coffeetable 1", "move tissuebox 2 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..194f736a8b90de7e8618c3c86a2a9460175faa7b --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/initial_state.pddl @@ -0,0 +1,514 @@ + +(define (problem plan_trial_T20190909_145607_044709) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 - object + Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 - object + Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 - object + Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 - object + CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 - object + CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 - object + FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 - object + HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 - object + KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 - object + KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 - object + Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 - object + LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 - object + Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 - object + Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 - object + RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 - object + RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 - object + Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 - object + Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 - object + TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 - object + TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 - object + Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 - receptacle + CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 - receptacle + DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 - receptacle + Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 - receptacle + SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 - receptacle + Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 - receptacle + Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 - receptacle + TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 - receptacle + loc_bar__minus_11_bar_2_bar_2_bar_60 - location + loc_bar__minus_21_bar_1_bar_2_bar_60 - location + loc_bar__minus_21_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_1_bar_2_bar_15 - location + loc_bar__minus_6_bar_15_bar_1_bar_60 - location + loc_bar__minus_10_bar_2_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_1_bar_60 - location + loc_bar__minus_22_bar_12_bar_3_bar_30 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_11_bar_9_bar_2_bar_60 - location + loc_bar__minus_3_bar_11_bar_0_bar_30 - location + loc_bar__minus_8_bar_14_bar_0_bar_60 - location + loc_bar__minus_3_bar_15_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_60 - location + loc_bar__minus_5_bar_15_bar_0_bar_60 - location + loc_bar__minus_17_bar_1_bar_2_bar_60 - location + loc_bar__minus_17_bar_1_bar_2_bar_0 - location + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_4_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_15_bar_10_bar_0_bar_45 - location + loc_bar__minus_23_bar_15_bar_2_bar_30 - location + ) + + +(:init + + + (receptacleType SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 SideTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 CoffeeTableType) + (receptacleType Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 SofaType) + (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 DiningTableType) + (receptacleType Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 DresserType) + (receptacleType Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 SofaType) + (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 DiningTableType) + (receptacleType TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 TVStandType) + (receptacleType GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 DrawerType) + (receptacleType ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 DrawerType) + (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 PaintingType) + (objectType TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 TissueBoxType) + (objectType HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 HousePlantType) + (objectType CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 CreditCardType) + (objectType KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 KeyChainType) + (objectType RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 RemoteControlType) + (objectType KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 KeyChainType) + (objectType Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 ChairType) + (objectType Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 BootsType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 LightSwitchType) + (objectType RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 RemoteControlType) + (objectType Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TelevisionType) + (objectType TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 TissueBoxType) + (objectType Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 StatueType) + (objectType CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 CreditCardType) + (objectType Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 PaintingType) + (objectType Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (objectType FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 FloorLampType) + (objectType Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 BoxType) + (objectType Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 LaptopType) + (objectType Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 PillowType) + (objectType Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (objectType Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 CandleType) + (canContain SideTableType CandleType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain DresserType CandleType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType TissueBoxType) + (canContain DresserType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain TVStandType TissueBoxType) + (canContain GarbageCanType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (pickupable TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44) + (pickupable CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35) + (pickupable KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12) + (pickupable RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85) + (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10) + (pickupable Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55) + (pickupable RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78) + (pickupable TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32) + (pickupable Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04) + (pickupable CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44) + (pickupable Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28) + (pickupable Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09) + (pickupable Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75) + (pickupable Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11) + (isReceptacleObject Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52) + (openable Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61) + + (atLocation agent1 loc_bar__minus_23_bar_15_bar_2_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47) + + + + + (inReceptacle Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89) + (inReceptacle RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12) + (inReceptacle TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52) + (inReceptacle HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52) + (inReceptacle Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98) + (inReceptacle KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22) + (inReceptacle CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 loc_bar__minus_8_bar_14_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 loc_bar__minus_11_bar_9_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 loc_bar__minus_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 loc_bar__minus_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 loc_bar__minus_6_bar_15_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 loc_bar__minus_3_bar_11_bar_0_bar_30) + (receptacleAtLocation Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 loc_bar__minus_21_bar_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 loc_bar__minus_11_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 loc_bar__minus_15_bar_10_bar_0_bar_45) + (receptacleAtLocation TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 loc_bar__minus_2_bar_8_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_02_dot_66_bar__plus_00_dot_47_bar__plus_01_dot_35 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation RemoteControl_bar__minus_00_dot_41_bar__plus_01_dot_31_bar__plus_03_dot_78 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_10 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_16_bar__plus_00_dot_84_bar__plus_00_dot_32 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation Box_bar__minus_00_dot_25_bar__plus_01_dot_50_bar__plus_03_dot_28 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 loc_bar__minus_2_bar_8_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 loc_bar__minus_22_bar_12_bar_3_bar_30) + (objectAtLocation TissueBox_bar__minus_00_dot_30_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_13_bar__plus_00_dot_40_bar__plus_04_dot_12 loc_bar__minus_8_bar_14_bar_0_bar_60) + (objectAtLocation Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 loc_bar__minus_3_bar_15_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 loc_bar__minus_21_bar_1_bar_2_bar__minus_15) + (objectAtLocation Candle_bar__minus_00_dot_08_bar__plus_01_dot_31_bar__plus_04_dot_11 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation RemoteControl_bar__plus_00_dot_12_bar__plus_00_dot_87_bar__plus_01_dot_85 loc_bar__minus_3_bar_8_bar_1_bar_45) + (objectAtLocation HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_13_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_02_dot_01_bar__plus_00_dot_45_bar__minus_00_dot_09 loc_bar__minus_11_bar_2_bar_2_bar_60) + (objectAtLocation Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 loc_bar__minus_15_bar_10_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 loc_bar__minus_17_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_17_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_4_bar__minus_1_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_10_bar_2_bar_2_bar_0) + (objectAtLocation Statue_bar__minus_02_dot_36_bar__plus_00_dot_48_bar__plus_01_dot_04 loc_bar__minus_11_bar_9_bar_2_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r CoffeeTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r CoffeeTableType) + (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-CoffeeTable-220/trial_T20190909_145607_044709/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..0636cc5d2e5f2d80d93c0ce3442cd103b4449ca0 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145607_044709/traj_data.json @@ -0,0 +1,6157 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000006.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000007.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000008.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000009.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000010.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000011.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000012.png", + "low_idx": 1 + }, + { + "high_idx": 0, + "image_name": "000000013.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000014.png", + "low_idx": 2 + }, + { + "high_idx": 0, + "image_name": "000000015.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000016.png", + "low_idx": 3 + }, + { + "high_idx": 0, + "image_name": "000000017.png", + "low_idx": 4 + }, + { + "high_idx": 0, + "image_name": "000000018.png", + "low_idx": 4 + }, + { + "high_idx": 0, + 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1.307064, + "z": 3.77555466 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "CreditCard_12db8ea1", + "position": { + "x": -2.664227, + "y": 0.4732971, + "z": 1.34934092 + }, + "rotation": { + "x": 0.0, + "y": -1.36603767e-05, + "z": 0.0 + } + }, + { + "objectName": "Laptop_fe11fbe6", + "position": { + "x": -2.01134562, + "y": 0.447578073, + "z": -0.08692805 + }, + "rotation": { + "x": 0.0, + "y": 332.62973, + "z": 0.0 + } + }, + { + "objectName": "Pillow_54aba01f", + "position": { + "x": -3.707, + "y": 0.635, + "z": 3.745 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + }, + { + "objectName": "Statue_874f4b0f", + "position": { + "x": -2.36383152, + "y": 0.475098163, + "z": 1.0365057 + }, + "rotation": { + "x": 0.0, + "y": -1.36603767e-05, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 485403287, + "scene_num": 220 + }, + "task_id": "trial_T20190909_145607_044709", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A30M9SZYJKFDS9_3JAOYWH7VLVSXIR9920GB8A8E9Z9LJ", + "high_descs": [ + "go forward turn to the left go left towards the dresser", + "pick up the tissue box from the dresser ", + "turn to the right go right turn to the left towards a coffee table", + "put the tissue box on top of the coffee table", + "turn to the left go right turn to the left towards the white table", + "pick up a box tissue from the white table", + "turn to the left go right turn to the left", + "put the other box tissue on top other coffee table" + ], + "task_desc": "put 2 tissue boxes on top of the coffee table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A1O3TWBUDONVLO_3P59JYT76OB5GBEFX2NSNCCB2HO2T2", + "high_descs": [ + "Turn left and cross the room to face the dresser.", + "Pick up the tissue box on the dresser.", + "Turn right and walk forward to face the living room table.", + "Place the tissue box on the living room table.", + "Turn left and walk forward to face the small dresser.", + "Pick up the tissue box on the dresser.", + "Turn right and walk forward to face the living room table.", + "Place the tissue box on the living room table." + ], + "task_desc": "To move two tissue boxes to the living room table.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "A17TKHT8FEVH0R_37U1UTWH9YD3MB3C9URYXOOW0VC8RP", + "high_descs": [ + "Turn left and go to the drawer", + "Grab the box of tissue off of the drawer", + "Turn around and go to the white coffee table", + "Put the tissue box on the table", + "Turn left and go to the white drawer", + "Grab the tissue box off of the drawer", + "Turn around and go to the white coffee table", + "Put the tissue box on the table" + ], + "task_desc": "Putting two tissue boxes on the white coffee 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-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..fb05adcedbfba0a0391bc64238e97f51ec659379 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/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 coffeetable.\"\n }\n ],\n\n \"GotoLocation.feedback\": [\n {\n \"rhs\": \"You arrive at {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"OpenObject.feedback\": [\n {\n \"rhs\": \"You open the {r.name}. #examineReceptacle.feedback#\"\n }\n ],\n\n \"CloseObject.feedback\": [\n {\n \"rhs\": \"You close the {r.name}.\"\n }\n ],\n\n \"PickupObject.feedback\": [\n {\n \"rhs\": \"You pick up the {o.name} from the {r.name}.\"\n }\n ],\n\n \"PickupObjectFromReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupObjectFromReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupEmptyReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupEmptyReceptacleObject: You pick up the {o.name}.\"\n }\n ],\n\n \"PickupFullReceptacleObject.feedback\": [\n {\n \"rhs\": \"PickupFullReceptacleObject: You pick up the {outerr.name}.\"\n }\n ],\n\n \"PutObject.feedback\": [\n {\n \"rhs\": \"You move the {o.name} to the {r.name}.\"\n }\n ],\n\n \"PutObjectInReceptacleObject.feedback\": [\n {\n \"rhs\": \"PutObjectInReceptacleObject: You put the {o.name} in the {outero.name}.\"\n }\n ],\n\n \"PutEmptyReceptacleObjectinReceptacle.feedback\": [\n {\n \"rhs\": \"PutEmptyReceptacleObjectinReceptacle: You put the {o.name} in the {r.name}.\"\n }\n ],\n\n \"PutFullReceptacleObjectInReceptacle.feedback\": [\n {\n \"rhs\": \"PutFullReceptacleObjectInReceptacle: You put the {outero.name} in the {r.name}.\"\n }\n ],\n\n \"inventory.feedback\": [\n {\n \"condition\": \"holdsany(a:agent)\",\n \"rhs\": \"You are carrying: [{o.indefinite + ' ' + o.name | holds(a:agent, o:object)}].\"\n },\n {\n \"rhs\": \"You are not carrying anything.\"\n }\n ],\n\n \"examineReceptacle.feedback\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \"The {r.name} is open. In it, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \"The {r.name} is closed.\"\n },\n {\n \"rhs\": \"On the {r.name}, you see [{o.indefinite + ' ' + o.name | inreceptacle(o:object, r:receptacle)}].\"\n }\n ],\n\n \"examineObject.feedback\": [\n {\n \"condition\": \"isreceptacleobject(o:object)\",\n \"rhs\": \"This is a normal {o.name}. In it, you see [{o2.indefinite + ' ' + o2.name | inreceptacleobject(o2:object, o:object)}].\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool and clean sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a clean sliced {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a hot sliced {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a cool sliced {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & ishot(o:object)\",\n \"rhs\": \"This is a hot and clean {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object) & iscool(o:object)\",\n \"rhs\": \"This is a cool and clean {o.name}.\"\n },\n {\n \"condition\": \"ishot(o:object)\",\n \"rhs\": \"This is a hot {o.name}.\"\n },\n {\n \"condition\": \"isclean(o:object)\",\n \"rhs\": \"This is a clean {o.name}.\"\n },\n {\n \"condition\": \"iscool(o:object)\",\n \"rhs\": \"This is a cold {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"This {o.name} is on.\"\n },\n {\n \"condition\": \"toggleable(o:object) & not_istoggled(o:object)\",\n \"rhs\": \"This {o.name} is off.\"\n },\n {\n \"condition\": \"sliceable(o:object) & issliced(o:object)\",\n \"rhs\": \"This is a sliced {o.name}.\"\n },\n {\n \"rhs\": \"There's nothing special about {o.name}.\"\n }\n ]\n }\n\"\"\";\n\naction GotoLocation {\n template :: \"go to [{r.name | receptacleatlocation(r:receptacle, lend:location)}]\";\n feedback :: \"#GotoLocation.feedback#\";\n}\n\naction OpenObject {\n template :: \"open {r}\";\n feedback :: \"#OpenObject.feedback#\";\n}\n\naction CloseObject {\n template :: \"close {r}\";\n feedback :: \"#CloseObject.feedback#\";\n}\n\naction PickupObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObject.feedback#\";\n}\n\naction PickupObjectFromReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupObjectFromReceptacleObject.feedback#\";\n}\n\naction PickupEmptyReceptacleObject {\n template :: \"take {o} from {r}\";\n feedback :: \"#PickupEmptyReceptacleObject.feedback#\";\n}\n\naction PickupFullReceptacleObject {\n template :: \"take {outerr} from {r}\";\n feedback :: \"#PickupFullReceptacleObject.feedback#\";\n}\n\naction PutObject {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutObject.feedback#\";\n}\n\naction PutObjectInReceptacleObject {\n template :: \"put {o} into {outero}\";\n feedback :: \"#PutObjectInReceptacleObject.feedback#\";\n}\n\naction PutEmptyReceptacleObjectinReceptacle {\n template :: \"move {o} to {r}\";\n feedback :: \"#PutEmptyReceptacleObjectinReceptacle.feedback#\";\n}\n\naction PutFullReceptacleObjectInReceptacle {\n template :: \"put {outero} in {r}\";\n feedback :: \"#PutFullReceptacleObjectInReceptacle.feedback#\";\n}\n\naction inventory {\n template :: \"inventory\";\n feedback :: \"#inventory.feedback#\";\n}\n\naction examineReceptacle {\n template :: \"examine {r}\";\n feedback :: \"#examineReceptacle.feedback#\";\n}\n\naction examineObject {\n template :: \"examine {o}\";\n feedback :: \"#examineObject.feedback#\";\n}\n\naction ToggleObject {\n template :: \"use {o}\";\n feedback :: \"#toggleObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"toggleObject.feedback\": [\n {\n \"condition\": \"toggleable(o:object) & istoggled(o:object)\",\n \"rhs\": \"You turn on the {o.name}.\"\n },\n {\n \"condition\": \"toggleable(o:object)\",\n \"rhs\": \"You turn off the {o.name}.\"\n },\n {\n \"rhs\": \"You don't see any switch on the {o.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction HeatObject {\n template :: \"heat {o} with {r}\";\n feedback :: \"#heatObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"heatObject.feedback\": [\n {\n \"rhs\": \"You heat the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CleanObject {\n template :: \"clean {o} with {r}\";\n feedback :: \"#cleanObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"cleanObject.feedback\": [\n {\n \"rhs\": \"You clean the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction CoolObject {\n template :: \"cool {o} with {r}\";\n feedback :: \"#coolObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"coolObject.feedback\": [\n {\n \"rhs\": \"You cool the {o.name} using the {r.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction SliceObject {\n template :: \"slice {co} with {ko}\";\n feedback :: \"#sliceObject.feedback#\";\n\n grammar :: \"\"\"\n {\n \"sliceObject.feedback\": [\n {\n \"rhs\": \"You sliced the {co.name} with the {ko.name}.\"\n }\n ]\n }\n \"\"\";\n}\n\naction look {\n template :: \"look\";\n feedback :: \"#look.feedback#\";\n\n grammar :: \"\"\"\n {\n \"look.feedback\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"#look-variations#. Next to it, you see #list_objects_on_the_floor#.\"\n },\n {\n \"rhs\": \"You are in the middle of a room. Looking quickly around you, you see #list_appliances#.\"\n }\n ],\n\n \"look-variations\": [\n {\n \"rhs\": \"You are facing the [{r.name | atlocation(a:agent, l:location) & receptacleatlocation(r:receptacle, l:location)}]\"\n }\n ],\n\n \"list_objects_on_the_floor\": [\n {\n \"condition\": \"atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)\",\n \"rhs\": \"[{#overview(o)# | atlocation(a:agent, l:location) & objectatlocation(o:object, l:location) & receptacleatlocation(r:receptacle, l:location) & not_inreceptacle(o:object, r:receptacle)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"list_appliances\": [\n {\n \"condition\": \"receptacleatlocation(r:receptacle, l:location)\",\n \"rhs\": \"[{#overview(r)# | receptacleatlocation(r:receptacle, l:location)}]\"\n },\n {\n \"rhs\": \"nothing\"\n }\n ],\n\n \"overview(o, r)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name} (in/on the {r.name})}\"\n }\n ],\n\n \"overview(o)\": [\n {\n \"rhs\": \"{o.indefinite} {o.name}\"\n }\n ],\n \"overview(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}\"\n }\n ],\n \"overview_with_state(r)\": [\n {\n \"rhs\": \"{r.indefinite} {r.name or r.id}#overview_state(r)#\"\n }\n ],\n \"overview_state(r)\": [\n {\n \"condition\": \"openable(r:receptacle) & opened(r:receptacle)\",\n \"rhs\": \" (it is open)\"\n },\n {\n \"condition\": \"openable(r:receptacle)\",\n \"rhs\": \" (it is closed)\"\n },\n {\n \"rhs\": \"\"\n }\n ],\n\n \"list_empty\": [\n {\n \"rhs\": \"nothing\"\n }\n ],\n \"list_separator\": [\n {\n \"rhs\": \", \"\n }\n ],\n \"list_last_separator\": [\n {\n \"rhs\": \", and \"\n }\n ]\n }\n \"\"\";\n}\n\naction help {\n template :: \"help\";\n feedback :: \"\nAvailable commands:\n look: look around your current location\n inventory: check your current inventory\n go to (receptacle): move to a receptacle\n open (receptacle): open a receptacle\n close (receptacle): close a receptacle\n take (object) from (receptacle): take an object from a receptacle\n move (object) to (receptacle): place an object in or on a receptacle\n examine (something): examine a receptacle or an object\n use (object): use an object\n heat (object) with (receptacle): heat an object using a receptacle\n clean (object) with (receptacle): clean an object using a receptacle\n cool (object) with (receptacle): cool an object using a receptacle\n slice (object) with (object): slice an object using a sharp object\n\";\n}\n", "pddl_problem": "\n(define (problem plan_trial_T20190909_145706_997120)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 - object\n Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 - object\n Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 - object\n Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 - object\n Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 - object\n Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 - object\n CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 - object\n CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 - object\n FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 - object\n HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 - object\n KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 - object\n KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 - object\n Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 - object\n LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 - object\n Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 - object\n Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 - object\n Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 - object\n RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 - object\n Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 - object\n Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 - object\n Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 - object\n TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 - object\n TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 - object\n Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 - object\n ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 - receptacle\n CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 - receptacle\n DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 - receptacle\n DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 - receptacle\n Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 - receptacle\n Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 - receptacle\n Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle\n GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 - receptacle\n SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 - receptacle\n Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 - receptacle\n Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 - receptacle\n TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 - receptacle\n loc_bar__minus_11_bar_2_bar_2_bar_60 - location\n loc_bar__minus_21_bar_1_bar_2_bar_60 - location\n loc_bar__minus_21_bar_1_bar_2_bar__minus_15 - location\n loc_bar__minus_4_bar__minus_1_bar_2_bar_15 - location\n loc_bar__minus_6_bar_15_bar_1_bar_60 - location\n loc_bar__minus_10_bar_2_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_1_bar_60 - location\n loc_bar__minus_22_bar_12_bar_3_bar_30 - location\n loc_bar__minus_4_bar_14_bar_1_bar_60 - location\n loc_bar__minus_5_bar_3_bar_1_bar_45 - location\n loc_bar__minus_11_bar_9_bar_2_bar_60 - location\n loc_bar__minus_3_bar_11_bar_0_bar_30 - location\n loc_bar__minus_8_bar_14_bar_0_bar_60 - location\n loc_bar__minus_3_bar_15_bar_1_bar__minus_15 - location\n loc_bar__minus_6_bar_4_bar_1_bar_45 - location\n loc_bar__minus_2_bar_10_bar_0_bar_60 - location\n loc_bar__minus_5_bar_15_bar_0_bar_60 - location\n loc_bar__minus_17_bar_1_bar_2_bar_60 - location\n loc_bar__minus_17_bar_1_bar_2_bar_0 - location\n loc_bar__minus_3_bar_8_bar_1_bar_45 - location\n loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location\n loc_bar__minus_4_bar_2_bar_1_bar_60 - location\n loc_bar__minus_5_bar_14_bar_1_bar_60 - location\n loc_bar__minus_15_bar_10_bar_0_bar_45 - location\n loc_bar__minus_16_bar_7_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 SideTableType)\n (receptacleType CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 CoffeeTableType)\n (receptacleType Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 SofaType)\n (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 DiningTableType)\n (receptacleType Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 DresserType)\n (receptacleType Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 SofaType)\n (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 DiningTableType)\n (receptacleType TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 TVStandType)\n (receptacleType GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 GarbageCanType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 DrawerType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 DrawerType)\n (receptacleType ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 ArmChairType)\n (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 DrawerType)\n (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (objectType KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 KeyChainType)\n (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 PaintingType)\n (objectType KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 KeyChainType)\n (objectType HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 HousePlantType)\n (objectType CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 CreditCardType)\n (objectType Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 LaptopType)\n (objectType Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 BootsType)\n (objectType Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 ChairType)\n (objectType Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 StatueType)\n (objectType CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 CreditCardType)\n (objectType RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 RemoteControlType)\n (objectType TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 TissueBoxType)\n (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 LightSwitchType)\n (objectType Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TelevisionType)\n (objectType Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 CandleType)\n (objectType Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 StatueType)\n (objectType Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 BoxType)\n (objectType Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 CandleType)\n (objectType Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 PaintingType)\n (objectType Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 CandleType)\n (objectType Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (objectType FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 FloorLampType)\n (objectType Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 PillowType)\n (objectType TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 TissueBoxType)\n (objectType Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType)\n (canContain SideTableType CandleType)\n (canContain SideTableType BoxType)\n (canContain SideTableType KeyChainType)\n (canContain SideTableType CreditCardType)\n (canContain SideTableType LaptopType)\n (canContain SideTableType RemoteControlType)\n (canContain SideTableType TissueBoxType)\n (canContain SideTableType StatueType)\n (canContain CoffeeTableType CandleType)\n (canContain CoffeeTableType BoxType)\n (canContain CoffeeTableType KeyChainType)\n (canContain CoffeeTableType CreditCardType)\n (canContain CoffeeTableType LaptopType)\n (canContain CoffeeTableType RemoteControlType)\n (canContain CoffeeTableType TissueBoxType)\n (canContain CoffeeTableType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain DresserType CandleType)\n (canContain DresserType BoxType)\n (canContain DresserType KeyChainType)\n (canContain DresserType CreditCardType)\n (canContain DresserType LaptopType)\n (canContain DresserType RemoteControlType)\n (canContain DresserType TissueBoxType)\n (canContain DresserType StatueType)\n (canContain SofaType BoxType)\n (canContain SofaType LaptopType)\n (canContain SofaType PillowType)\n (canContain SofaType RemoteControlType)\n (canContain SofaType KeyChainType)\n (canContain SofaType CreditCardType)\n (canContain DiningTableType CandleType)\n (canContain DiningTableType BoxType)\n (canContain DiningTableType KeyChainType)\n (canContain DiningTableType CreditCardType)\n (canContain DiningTableType LaptopType)\n (canContain DiningTableType RemoteControlType)\n (canContain DiningTableType TissueBoxType)\n (canContain DiningTableType StatueType)\n (canContain TVStandType TissueBoxType)\n (canContain GarbageCanType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (canContain DrawerType CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\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 CandleType)\n (canContain DrawerType KeyChainType)\n (canContain DrawerType CreditCardType)\n (canContain DrawerType RemoteControlType)\n (canContain DrawerType TissueBoxType)\n (pickupable KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53)\n (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04)\n (pickupable CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44)\n (pickupable Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81)\n (pickupable Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55)\n (pickupable Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52)\n (pickupable CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00)\n (pickupable RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29)\n (pickupable TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81)\n (pickupable Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29)\n (pickupable Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93)\n (pickupable Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25)\n (pickupable Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25)\n (pickupable Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37)\n (pickupable Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75)\n (pickupable TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11)\n (isReceptacleObject Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61)\n (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61)\n \n (atLocation agent1 loc_bar__minus_16_bar_7_bar_0_bar_30)\n \n \n \n \n \n \n \n (toggleable FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47)\n \n \n \n \n (inReceptacle Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89)\n (inReceptacle Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89)\n (inReceptacle TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61)\n (inReceptacle TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52)\n (inReceptacle Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52)\n (inReceptacle HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52)\n (inReceptacle Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98)\n (inReceptacle KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98)\n (inReceptacle Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15)\n (inReceptacle Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52)\n (inReceptacle Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61)\n (inReceptacle CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00)\n \n \n (receptacleAtLocation ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 loc_bar__minus_8_bar_14_bar_0_bar_60)\n (receptacleAtLocation CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 loc_bar__minus_6_bar_4_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 loc_bar__minus_5_bar_3_bar_1_bar_45)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 loc_bar__minus_6_bar_15_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 loc_bar__minus_4_bar_14_bar_1_bar_60)\n (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 loc_bar__minus_3_bar_11_bar_0_bar_30)\n (receptacleAtLocation Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (receptacleAtLocation GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 loc_bar__minus_21_bar_1_bar_2_bar_60)\n (receptacleAtLocation SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (receptacleAtLocation Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 loc_bar__minus_11_bar_2_bar_2_bar_60)\n (receptacleAtLocation Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 loc_bar__minus_15_bar_10_bar_0_bar_45)\n (receptacleAtLocation TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 loc_bar__minus_2_bar_8_bar_1_bar_60)\n (objectAtLocation Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45)\n (objectAtLocation Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 loc_bar__minus_5_bar_14_bar_1_bar_60)\n (objectAtLocation Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 loc_bar__minus_5_bar_15_bar_0_bar_60)\n (objectAtLocation Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 loc_bar__minus_2_bar_8_bar_1_bar_60)\n (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 loc_bar__minus_22_bar_12_bar_3_bar_30)\n (objectAtLocation TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 loc_bar__minus_2_bar_8_bar_1_bar_60)\n (objectAtLocation Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60)\n (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 loc_bar__minus_3_bar_15_bar_1_bar__minus_15)\n (objectAtLocation Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 loc_bar__minus_21_bar_1_bar_2_bar__minus_15)\n (objectAtLocation Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 loc_bar__minus_6_bar_4_bar_1_bar_45)\n (objectAtLocation RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 loc_bar__minus_11_bar_9_bar_2_bar_60)\n (objectAtLocation HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 loc_bar__minus_4_bar_2_bar_1_bar_60)\n (objectAtLocation CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60)\n (objectAtLocation Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 loc_bar__minus_15_bar_10_bar_0_bar_45)\n (objectAtLocation Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 loc_bar__minus_15_bar_10_bar_0_bar_45)\n (objectAtLocation FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 loc_bar__minus_17_bar_1_bar_2_bar_60)\n (objectAtLocation Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_17_bar_1_bar_2_bar_0)\n (objectAtLocation Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_4_bar__minus_1_bar_2_bar_15)\n (objectAtLocation Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_10_bar_2_bar_2_bar_0)\n (objectAtLocation Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 TissueBoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 TissueBoxType)\n (receptacleType ?r CoffeeTableType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to dresser 1", "take tissuebox 2 from dresser 1", "go to coffeetable 1", "move tissuebox 2 to coffeetable 1", "go to sidetable 1", "take tissuebox 1 from sidetable 1", "go to coffeetable 1", "move tissuebox 1 to coffeetable 1"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..cfaa99d2098a2e08731297a86bab632ad9a9abc4 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/initial_state.pddl @@ -0,0 +1,524 @@ + +(define (problem plan_trial_T20190909_145706_997120) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 - object + Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 - object + Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 - object + Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 - object + Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 - object + Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 - object + CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 - object + CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 - object + FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 - object + HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 - object + KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 - object + KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 - object + Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 - object + LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 - object + Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 - object + Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 - object + Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 - object + RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 - object + Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 - object + Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 - object + Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 - object + TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 - object + TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 - object + Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 - object + ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 - receptacle + CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 - receptacle + DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 - receptacle + DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 - receptacle + Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 - receptacle + Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 - receptacle + Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 - receptacle + GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 - receptacle + SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 - receptacle + Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 - receptacle + Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 - receptacle + TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 - receptacle + loc_bar__minus_11_bar_2_bar_2_bar_60 - location + loc_bar__minus_21_bar_1_bar_2_bar_60 - location + loc_bar__minus_21_bar_1_bar_2_bar__minus_15 - location + loc_bar__minus_4_bar__minus_1_bar_2_bar_15 - location + loc_bar__minus_6_bar_15_bar_1_bar_60 - location + loc_bar__minus_10_bar_2_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_1_bar_60 - location + loc_bar__minus_22_bar_12_bar_3_bar_30 - location + loc_bar__minus_4_bar_14_bar_1_bar_60 - location + loc_bar__minus_5_bar_3_bar_1_bar_45 - location + loc_bar__minus_11_bar_9_bar_2_bar_60 - location + loc_bar__minus_3_bar_11_bar_0_bar_30 - location + loc_bar__minus_8_bar_14_bar_0_bar_60 - location + loc_bar__minus_3_bar_15_bar_1_bar__minus_15 - location + loc_bar__minus_6_bar_4_bar_1_bar_45 - location + loc_bar__minus_2_bar_10_bar_0_bar_60 - location + loc_bar__minus_5_bar_15_bar_0_bar_60 - location + loc_bar__minus_17_bar_1_bar_2_bar_60 - location + loc_bar__minus_17_bar_1_bar_2_bar_0 - location + loc_bar__minus_3_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar__minus_1_bar_1_bar_60 - location + loc_bar__minus_4_bar_2_bar_1_bar_60 - location + loc_bar__minus_5_bar_14_bar_1_bar_60 - location + loc_bar__minus_15_bar_10_bar_0_bar_45 - location + loc_bar__minus_16_bar_7_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 SideTableType) + (receptacleType CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 CoffeeTableType) + (receptacleType Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 SofaType) + (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 DiningTableType) + (receptacleType Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 DresserType) + (receptacleType Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 SofaType) + (receptacleType DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 DiningTableType) + (receptacleType TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 TVStandType) + (receptacleType GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 GarbageCanType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 DrawerType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 DrawerType) + (receptacleType ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 ArmChairType) + (receptacleType Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 DrawerType) + (objectType Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (objectType KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 KeyChainType) + (objectType Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 PaintingType) + (objectType KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 KeyChainType) + (objectType HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 HousePlantType) + (objectType CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 CreditCardType) + (objectType Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 LaptopType) + (objectType Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 BootsType) + (objectType Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 ChairType) + (objectType Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 StatueType) + (objectType CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 CreditCardType) + (objectType RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 RemoteControlType) + (objectType TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 TissueBoxType) + (objectType LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 LightSwitchType) + (objectType Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TelevisionType) + (objectType Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 CandleType) + (objectType Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 StatueType) + (objectType Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 BoxType) + (objectType Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 CandleType) + (objectType Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 PaintingType) + (objectType Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 CandleType) + (objectType Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (objectType FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 FloorLampType) + (objectType Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 PillowType) + (objectType TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 TissueBoxType) + (objectType Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 WindowType) + (canContain SideTableType CandleType) + (canContain SideTableType BoxType) + (canContain SideTableType KeyChainType) + (canContain SideTableType CreditCardType) + (canContain SideTableType LaptopType) + (canContain SideTableType RemoteControlType) + (canContain SideTableType TissueBoxType) + (canContain SideTableType StatueType) + (canContain CoffeeTableType CandleType) + (canContain CoffeeTableType BoxType) + (canContain CoffeeTableType KeyChainType) + (canContain CoffeeTableType CreditCardType) + (canContain CoffeeTableType LaptopType) + (canContain CoffeeTableType RemoteControlType) + (canContain CoffeeTableType TissueBoxType) + (canContain CoffeeTableType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain DresserType CandleType) + (canContain DresserType BoxType) + (canContain DresserType KeyChainType) + (canContain DresserType CreditCardType) + (canContain DresserType LaptopType) + (canContain DresserType RemoteControlType) + (canContain DresserType TissueBoxType) + (canContain DresserType StatueType) + (canContain SofaType BoxType) + (canContain SofaType LaptopType) + (canContain SofaType PillowType) + (canContain SofaType RemoteControlType) + (canContain SofaType KeyChainType) + (canContain SofaType CreditCardType) + (canContain DiningTableType CandleType) + (canContain DiningTableType BoxType) + (canContain DiningTableType KeyChainType) + (canContain DiningTableType CreditCardType) + (canContain DiningTableType LaptopType) + (canContain DiningTableType RemoteControlType) + (canContain DiningTableType TissueBoxType) + (canContain DiningTableType StatueType) + (canContain TVStandType TissueBoxType) + (canContain GarbageCanType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (canContain ArmChairType BoxType) + (canContain ArmChairType LaptopType) + (canContain ArmChairType PillowType) + (canContain ArmChairType RemoteControlType) + (canContain ArmChairType KeyChainType) + (canContain ArmChairType CreditCardType) + (canContain DrawerType CandleType) + (canContain DrawerType KeyChainType) + (canContain DrawerType CreditCardType) + (canContain DrawerType RemoteControlType) + (canContain DrawerType TissueBoxType) + (pickupable KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53) + (pickupable KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04) + (pickupable CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44) + (pickupable Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81) + (pickupable Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55) + (pickupable Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52) + (pickupable CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00) + (pickupable RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29) + (pickupable TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81) + (pickupable Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29) + (pickupable Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93) + (pickupable Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25) + (pickupable Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25) + (pickupable Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37) + (pickupable Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75) + (pickupable TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11) + (isReceptacleObject Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52) + (openable Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61) + (openable Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61) + + (atLocation agent1 loc_bar__minus_16_bar_7_bar_0_bar_30) + + + + + + + + (toggleable FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47) + + + + + (inReceptacle Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89) + (inReceptacle Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89) + (inReceptacle TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61) + (inReceptacle TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52) + (inReceptacle Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52) + (inReceptacle HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52) + (inReceptacle Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98) + (inReceptacle KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98) + (inReceptacle Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15) + (inReceptacle Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52) + (inReceptacle Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61) + (inReceptacle CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00) + + + (receptacleAtLocation ArmChair_bar__minus_02_dot_06_bar_00_dot_00_bar__plus_04_dot_22 loc_bar__minus_8_bar_14_bar_0_bar_60) + (receptacleAtLocation CoffeeTable_bar__minus_02_dot_65_bar_00_dot_00_bar__plus_01_dot_15 loc_bar__minus_11_bar_9_bar_2_bar_60) + (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_72_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation DiningTable_bar__plus_00_dot_19_bar__plus_00_dot_91_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_21_bar__plus_00_dot_52 loc_bar__minus_6_bar_4_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_37_bar__plus_00_dot_57_bar__plus_00_dot_52 loc_bar__minus_5_bar_3_bar_1_bar_45) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_18_bar__plus_03_dot_61 loc_bar__minus_6_bar_15_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_48_bar__plus_03_dot_61 loc_bar__minus_5_bar_14_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_00_dot_79_bar__plus_03_dot_61 loc_bar__minus_4_bar_14_bar_1_bar_60) + (receptacleAtLocation Drawer_bar__minus_00_dot_38_bar__plus_01_dot_07_bar__plus_03_dot_61 loc_bar__minus_3_bar_11_bar_0_bar_30) + (receptacleAtLocation Dresser_bar__minus_00_dot_27_bar__plus_00_dot_00_bar__plus_03_dot_61 loc_bar__minus_2_bar_10_bar_0_bar_60) + (receptacleAtLocation GarbageCan_bar__minus_05_dot_17_bar__plus_00_dot_01_bar__minus_00_dot_41 loc_bar__minus_21_bar_1_bar_2_bar_60) + (receptacleAtLocation SideTable_bar__minus_00_dot_28_bar__plus_00_dot_01_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60) + (receptacleAtLocation Sofa_bar__minus_02_dot_68_bar__minus_00_dot_05_bar__minus_00_dot_12 loc_bar__minus_11_bar_2_bar_2_bar_60) + (receptacleAtLocation Sofa_bar__minus_03_dot_79_bar__plus_00_dot_01_bar__plus_03_dot_89 loc_bar__minus_15_bar_10_bar_0_bar_45) + (receptacleAtLocation TVStand_bar__plus_00_dot_20_bar__plus_00_dot_58_bar__plus_01_dot_98 loc_bar__minus_2_bar_8_bar_1_bar_60) + (objectAtLocation Statue_bar__minus_00_dot_30_bar__plus_01_dot_29_bar__plus_03_dot_93 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation CreditCard_bar__plus_00_dot_28_bar__plus_00_dot_68_bar__plus_02_dot_00 loc_bar__minus_3_bar_8_bar_1_bar_45) + (objectAtLocation Candle_bar__minus_02_dot_66_bar__plus_00_dot_48_bar__plus_01_dot_29 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation KeyChain_bar__minus_02_dot_51_bar__plus_00_dot_47_bar__plus_01_dot_04 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation TissueBox_bar__minus_00_dot_25_bar__plus_01_dot_31_bar__plus_03_dot_11 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation Candle_bar__minus_00_dot_36_bar__plus_00_dot_41_bar__plus_03_dot_25 loc_bar__minus_5_bar_14_bar_1_bar_60) + (objectAtLocation Box_bar__minus_02_dot_26_bar__plus_00_dot_67_bar__plus_01_dot_25 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation Chair_bar__minus_01_dot_35_bar__plus_00_dot_02_bar__plus_04_dot_24 loc_bar__minus_5_bar_15_bar_0_bar_60) + (objectAtLocation Television_bar__plus_00_dot_23_bar__plus_01_dot_53_bar__plus_02_dot_00 loc_bar__minus_2_bar_8_bar_1_bar_60) + (objectAtLocation LightSwitch_bar__minus_06_dot_00_bar__plus_01_dot_38_bar__plus_02_dot_88 loc_bar__minus_22_bar_12_bar_3_bar_30) + (objectAtLocation TissueBox_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_81 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation KeyChain_bar__plus_00_dot_16_bar__plus_01_dot_04_bar__plus_01_dot_53 loc_bar__minus_2_bar_8_bar_1_bar_60) + (objectAtLocation Boots_bar__minus_00_dot_44_bar__plus_00_dot_01_bar__minus_00_dot_55 loc_bar__minus_3_bar__minus_1_bar_1_bar_60) + (objectAtLocation Painting_bar__minus_00_dot_05_bar__plus_01_dot_91_bar__plus_03_dot_69 loc_bar__minus_3_bar_15_bar_1_bar__minus_15) + (objectAtLocation Painting_bar__minus_05_dot_35_bar__plus_01_dot_99_bar__minus_00_dot_69 loc_bar__minus_21_bar_1_bar_2_bar__minus_15) + (objectAtLocation Candle_bar__minus_00_dot_44_bar__plus_00_dot_10_bar__plus_00_dot_37 loc_bar__minus_6_bar_4_bar_1_bar_45) + (objectAtLocation RemoteControl_bar__minus_02_dot_51_bar__plus_00_dot_48_bar__plus_01_dot_29 loc_bar__minus_11_bar_9_bar_2_bar_60) + (objectAtLocation HousePlant_bar__minus_00_dot_29_bar__plus_00_dot_83_bar__plus_00_dot_30 loc_bar__minus_4_bar_2_bar_1_bar_60) + (objectAtLocation CreditCard_bar__minus_00_dot_19_bar__plus_01_dot_31_bar__plus_03_dot_44 loc_bar__minus_2_bar_10_bar_0_bar_60) + (objectAtLocation Laptop_bar__minus_03_dot_30_bar__plus_00_dot_54_bar__plus_03_dot_81 loc_bar__minus_15_bar_10_bar_0_bar_45) + (objectAtLocation Pillow_bar__minus_03_dot_71_bar__plus_00_dot_64_bar__plus_03_dot_75 loc_bar__minus_15_bar_10_bar_0_bar_45) + (objectAtLocation FloorLamp_bar__minus_04_dot_10_bar__plus_00_dot_01_bar__minus_00_dot_47 loc_bar__minus_17_bar_1_bar_2_bar_60) + (objectAtLocation Window_bar__minus_04_dot_13_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_17_bar_1_bar_2_bar_0) + (objectAtLocation Window_bar__minus_00_dot_97_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_4_bar__minus_1_bar_2_bar_15) + (objectAtLocation Window_bar__minus_02_dot_55_bar__plus_01_dot_56_bar__minus_00_dot_83 loc_bar__minus_10_bar_2_bar_2_bar_0) + (objectAtLocation Statue_bar__minus_00_dot_27_bar__plus_00_dot_84_bar__plus_00_dot_52 loc_bar__minus_4_bar_2_bar_1_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 TissueBoxType) + (receptacleType ?r CoffeeTableType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 TissueBoxType) + (receptacleType ?r CoffeeTableType) + (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-CoffeeTable-220/trial_T20190909_145706_997120/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..5a0822454c038b1017624968e31b81b773fb406e --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-TissueBox-None-CoffeeTable-220/trial_T20190909_145706_997120/traj_data.json @@ -0,0 +1,5917 @@ +{ + "images": [ + { + "high_idx": 0, + "image_name": "000000000.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000001.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000002.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000003.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000004.png", + "low_idx": 0 + }, + { + "high_idx": 0, + "image_name": "000000005.png", + "low_idx": 0 + 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"anns": [ + { + "assignment_id": "A3UF6XXFFRR237_37ZHEEHM6ZD73VDROZYW1QPLJZW373", + "high_descs": [ + "go to the book shelf", + "pick up the tissue box", + "take the box to the coffee table", + "put the box on the table", + "go to the white bench", + "pick up the tissue box from the bench", + "take the box to the coffee table", + "put the box on the coffee table" + ], + "task_desc": "put two boxes of tissues on the coffee table", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "ALZDJ7DBWN919_3NLZY2D53SGYPH8VQ4B2X30XOAFQL0", + "high_descs": [ + "Walk over to the brown book shelf.", + "Pick up the box of tissues.", + "Walk over to the white table in front of the couch.", + "Put the box of tissues on the white table.", + "Walk over to the white side table to the right of the TV.", + "Pick up a second box of tissues.", + "Walk back over to the white table by the couch.", + "Place the other box of tissues down to the right of the first box." + ], + "task_desc": "Put two boxes of tissue on the white table in front of the couch.", + "votes": [ + 1, + 1, + 1 + ] + }, + { + "assignment_id": "AKW57KYG90X61_3L4PIM1GQW7I1HUUMYPSW1CYTACYRQ", + "high_descs": [ + "move left to the shelf", + "pick up a paper box", + "turn around to the center table ", + "drop the paper box on the table", + "move left to the white shelf", + "pick up the paper box", + "turn around and head to the center table", + "drop the paper box on the table" + ], + "task_desc": "drop two paper boxes 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-ToiletPaper-None-Cabinet-428/trial_T20190907_172435_941019/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172435_941019/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..66cfd5946121ad9693a32c2df3aa316aa1c848ce --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172435_941019/initial_state.pddl @@ -0,0 +1,456 @@ + +(define (problem plan_trial_T20190907_172435_941019) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_96 - object + Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 - object + Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38 - object + SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00 - object + SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_82 - object + SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_05 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar__minus_1_bar_14_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_82 SoapBottleType) + (objectType SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38 SoapBarType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 CandleType) + (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72 ClothType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 ClothType) + (objectType SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_05 SprayBottleType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00 SoapBarType) + (objectType Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_96 CandleType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_82) + (pickupable SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93) + (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36) + (pickupable SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_05) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00) + (pickupable Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_96) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar__minus_1_bar_14_bar_1_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38) + (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72) + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36) + (cleanable SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00) + + + + + + + + + + + (inReceptacle SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (inReceptacle SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_05 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (inReceptacle Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_82 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_40_bar__plus_00_dot_07_bar__plus_01_dot_38 loc_bar__minus_3_bar_7_bar_3_bar_60) + (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_72 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_64_bar__plus_00_dot_92_bar__plus_03_dot_96 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_81_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_82 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_36 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_03_dot_00 loc_bar__minus_2_bar_14_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_05 loc_bar__minus_2_bar_14_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r CabinetType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ToiletPaperType) + (receptacleType ?r CabinetType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172435_941019/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172435_941019/traj_data.json new file mode 100644 index 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toilet to face the toilet paper holder on the wall.", + "Pick up the brown cardboard roll to the left of the green container on the floor.", + "Turn left, hang a left at the wall and face the toilet to the left.", + "Place the cardboard roll inside of the lower left cabinet and close the door.", + "Turn right and walk closer to the toilet to reach the toilet tank.", + "Pick up the roll of toilet paper to the right of the soap bottle on the toilet tank.", + "Turn around, walk forward towards the shower and turn around again to face the toilet.", + "Place the roll of toilet paper inside the lower left cabinet behind the cardboard roll and close the door." + ], + "task_desc": "Place a cardboard roll and a toilet paper roll in a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A3HL2LL0LEPZT8_31N2WW6R9U7CXZ6ZAA7ROWI0NHKF3F", + "high_descs": [ + "Turn right, go towards the all, turn right, go towards the green bin, turn left and face the wall.", + "Take the cardboard roll on the floor to the left of the green bin.", + "Go in front of the toilet and face it.", + "Put the cardboard roll in the bottom left cabinet under the sink.", + "Go forward towards the space between the toilet and the sink.", + "Take the toilet paper from the top of the toilet tank.", + "Go in front of the toilet and face it.", + "Put the toilet paper in the bottom left cabinet under the sink." + ], + "task_desc": "Put toilet paper rolls in a cabinet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3HWRJOOET8JOB2RI5EOMEM5C3U6SE0", + "high_descs": [ + "Move to the toilet to the left of the sink", + "Pick up the roll from the ground", + "Move to the front of the toilet to the left of the sink", + "Place the roll in the cabinet closest to the toilet", + "Move closer to the toilet to the left of the sink", + "Pick up the roll from the back of the toilet", + "Move to the front of the toilet to the left of the sink", + "Place the roll in the cabinet closest to the toilet" + ], + "task_desc": "Put two rolls of toilet paper in the cabinet closest to the toilet.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172538_343985/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172538_343985/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..b201c0714a2e3bf6ddd05d3dff2b2eede03df472 --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172538_343985/initial_state.pddl @@ -0,0 +1,466 @@ + +(define (problem plan_trial_T20190907_172538_343985) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_12 - object + Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_42 - object + Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 - object + SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93 - object + SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55 - object + SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 - object + SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_43 - object + SprayBottle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_55 - object + SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_3_bar_7_bar_2_bar_60 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar_2_bar_14_bar_1_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType SprayBottle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_55 SprayBottleType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 SprayBottleType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40 ClothType) + (objectType SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 SoapBottleType) + (objectType Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_12 CandleType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_43 SprayBottleType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55 SoapBarType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_42 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 SoapBarType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable SprayBottle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_55) + (pickupable SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40) + (pickupable SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95) + (pickupable Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_12) + (pickupable SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_43) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55) + (pickupable Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_42) + (pickupable ToiletPaper_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar_2_bar_14_bar_1_bar_30) + + (cleanable Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40) + (cleanable SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93) + (cleanable SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55) + (cleanable SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38) + + + + + + + + + + + (inReceptacle SprayBottle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_42 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + (inReceptacle SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_12 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (inReceptacle SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle ToiletPaper_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40) + (inReceptacle SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_43 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation SprayBottle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_55 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation Candle_bar__minus_01_dot_59_bar__plus_00_dot_04_bar__plus_02_dot_42 loc_bar__minus_2_bar_8_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_38 loc_bar__minus_3_bar_7_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_12 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_94_bar__plus_00_dot_95_bar__plus_01_dot_95 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_69_bar__plus_00_dot_04_bar__plus_03_dot_40 loc_bar__minus_2_bar_12_bar_3_bar_60) + (objectAtLocation SoapBar_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_86_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_43_bar__plus_00_dot_07_bar__plus_01_dot_43 loc_bar__minus_3_bar_7_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 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0.0 + } + }, + { + "objectName": "ToiletPaper_a0644457", + "position": { + "x": -1.14020634, + "y": 1.01309454, + "z": 1.25650108 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 89.99995 + } + }, + { + "objectName": "ScrubBrush_1cbe15ab", + "position": { + "x": -1.70388472, + "y": 0.000493228436, + "z": 2.217829 + }, + "rotation": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + } + } + ], + "object_toggles": [], + "random_seed": 2962736498, + "scene_num": 428 + }, + "task_id": "trial_T20190907_172538_343985", + "task_type": "pick_two_obj_and_place", + "turk_annotations": { + "anns": [ + { + "assignment_id": "A3PPLDHC3CG0YN_39ZSFO5CABDC1V5E8KUDQ30ST1GJUP", + "high_descs": [ + "Turn around, walk towards the sinks, hang a left at the sinks, and face the waste basket that's on the floor and to the left of the toilet. ", + "Pick up the lip stick that's on the floor and to the left of the green waste basket. ", + "Walk to the cabinet below the left sink and all the way to the left. ", + "Open the cabinet door, place the lip stick inside of the cabinet on the left front edge, and close the door. ", + "Face the area between the toilet and the sinks with the toilet brush and plunger. ", + "Pick up the toilet paper roll from the back of the toilet and to the right of the spray bottle. ", + "Walk to the cabinet below the left sink and all the way to the left. ", + "Open the left side cabinet door below the left sink, place the toilet paper roll behind the tube of lip stick in the cabinet, and close the door. " + ], + "task_desc": "To put a tube of lip stick, and a roll of toilet paper in the cabinet below the left sink. ", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A36DK84J5YJ942_3K772S5NPBSZLTD2UKCNA8YAUJIEHU", + "high_descs": [ + "Move to the toilet facing the wall to the left of the sinks", + "Pick up toilet roll from the bin", + "Move the the front of the toilet to the left of the sink", + "Put the roll in the cabinet closest to the toilet", + "Move to the toilet ahead of you", + "Pick up the toilet paper from the toilet", + "Move the the front of the toilet to the left of the sink", + "Put the roll in the cabinet closest to the toilet" + ], + "task_desc": "Put two rolls of toilet paper in the cabinet closest to the toilet.", + "votes": [ + 1, + 1 + ] + }, + { + "assignment_id": "A1AKL5YH9NLD2V_3KIBXJ1WD8BCZARZUJIGSC8GQ4ZOKN", + "high_descs": [ + "Turn right and walk to the tube on the ground next to the green trash can.", + "Pick up the tube on the ground.", + "Turn around and walk to the cabinet below the sink on the left.", + "Place the tube in the leftmost cabinet below the sink.", + "Walk to the toilet paper roll on the back of the toilet.", + "Pick up the toilet paper roll from the back of the toilet.", + "Step back and walk to the cabinets below the left sink.", + "Place the roll of toilet paper in the leftmost cabinet below the sink." + ], + "task_desc": "Place a tube and a roll of toilet paper in the leftmost cabinet below the sink.", + "votes": [ + 1, + 1 + ] + } + ] + } +} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/game.tw-pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/game.tw-pddl new file mode 100644 index 0000000000000000000000000000000000000000..e2cc612f8187e82f8115558d3868f48ab2a8d3dd --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/game.tw-pddl @@ -0,0 +1 @@ +{"pddl_domain": ";; Specification in PDDL of the Alfred domain\n;; Intended to be used with Fast Downward which supports PDDL 2.2 level 1 plus the :action-costs requirement from PDDL 3.1.\n\n(define (domain alfred)\n (:requirements\n :adl\n :action-costs\n :typing\n )\n (:types\n agent\n location\n receptacle\n object\n rtype\n otype\n )\n\n\n (:predicates\n (atLocation ?a - agent ?l - location) ; true if the agent is at the location\n (receptacleAtLocation ?r - receptacle ?l - location) ; true if the receptacle is at the location (constant)\n (objectAtLocation ?o - object ?l - location) ; true if the object is at the location\n (openable ?r - receptacle) ; true if a receptacle is openable\n (opened ?r - receptacle) ; true if a receptacle is opened\n (inReceptacle ?o - object ?r - receptacle) ; object ?o is in receptacle ?r\n (isReceptacleObject ?o - object) ; true if the object can have things put inside it\n (inReceptacleObject ?innerObject - object ?outerObject - object) ; object ?innerObject is inside object ?outerObject\n (isReceptacleObjectFull ?o - object) ; true if the receptacle object contains something\n (wasInReceptacle ?o - object ?r - receptacle) ; object ?o was or is in receptacle ?r now or some time in the past\n (checked ?r - receptacle) ; whether the receptacle has been looked inside/visited\n (examined ?l - location) ; TODO\n (receptacleType ?r - receptacle ?t - rtype) ; the type of receptacle (Cabinet vs Cabinet|01|2...)\n (canContain ?rt - rtype ?ot - otype) ; true if receptacle can hold object\n (objectType ?o - object ?t - otype) ; the type of object (Apple vs Apple|01|2...)\n (holds ?a - agent ?o - object) ; object ?o is held by agent ?a\n (holdsAny ?a - agent) ; agent ?a holds an object\n (holdsAnyReceptacleObject ?a - agent) ; agent ?a holds a receptacle object\n (full ?r - receptacle) ; true if the receptacle has no remaining space\n (isClean ?o - object) ; true if the object has been clean in sink\n (cleanable ?o - object) ; true if the object can be placed in a sink\n (isHot ?o - object) ; true if the object has been heated up\n (heatable ?o - object) ; true if the object can be heated up in a microwave\n (isCool ?o - object) ; true if the object has been cooled\n (coolable ?o - object) ; true if the object can be cooled in the fridge\n (pickupable ?o - object) ; true if the object can be picked up\n (moveable ?o - object) ; true if the object can be moved\n (toggleable ?o - object) ; true if the object can be turned on/off\n (isOn ?o - object) ; true if the object is on\n (isToggled ?o - object) ; true if the object has been toggled\n (sliceable ?o - object) ; true if the object can be sliced\n (isSliced ?o - object) ; true if the object is sliced\n )\n\n (:functions\n (distance ?from ?to)\n (total-cost) - number\n )\n\n;; All actions are specified such that the final arguments are the ones used\n;; for performing actions in Unity.\n\n\n(:action look\n :parameters (?a - agent ?l - location)\n :precondition\n (and\n (atLocation ?a ?l)\n )\n :effect\n (and\n (checked ?l)\n )\n)\n\n(:action inventory\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n\n(:action examineReceptacle\n :parameters (?a - agent ?r - receptacle)\n :precondition\n (and\n (exists (?l - location)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n )\n )\n )\n :effect\n (and\n (checked ?r)\n )\n)\n\n(:action examineObject\n :parameters (?a - agent ?o - object)\n :precondition\n (or\n ;(exists (?l - location)\n ; (and\n ; (atLocation ?a ?l)\n ; (objectAtLocation ?o ?l)\n ; )\n ;)\n (exists (?l - location, ?r - receptacle)\n (and\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n )\n )\n (holds ?a ?o)\n )\n :effect\n (and\n (checked ?o)\n )\n)\n\n;; agent goes to receptacle\n (:action GotoLocation\n :parameters (?a - agent ?lStart - location ?lEnd - location ?r - receptacle)\n :precondition (and\n (atLocation ?a ?lStart)\n (receptacleAtLocation ?r ?lEnd)\n ;(exists (?r - receptacle) (receptacleAtLocation ?r ?lEnd))\n )\n :effect (and\n (not (atLocation ?a ?lStart))\n (atLocation ?a ?lEnd)\n ; (forall (?r - receptacle)\n ; (when (and (receptacleAtLocation ?r ?lEnd)\n ; (or (not (openable ?r)) (opened ?r)))\n ; (checked ?r)\n ; )\n ; )\n ; (increase (total-cost) (distance ?lStart ?lEnd))\n (increase (total-cost) 1)\n )\n )\n\n;; agent opens receptacle\n (:action OpenObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (not (opened ?r))\n )\n :effect (and\n (opened ?r)\n (checked ?r)\n (increase (total-cost) 1)\n )\n )\n;; agent closes receptacle\n (:action CloseObject\n :parameters (?a - agent ?l - location ?r - receptacle)\n :precondition (and\n (openable ?r)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (opened ?r)\n )\n :effect (and\n (not (opened ?r))\n (increase (total-cost) 1)\n )\n\n )\n\n ;; agent picks up object from a receptacle\n (:action PickupObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition\n (and\n (pickupable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n ; (objectAtLocation ?o ?l)\n (inReceptacle ?o ?r)\n (not (holdsAny ?a)) ; agent's hands are empty.\n ;(not (holdsAnyReceptacleObject ?a))\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n ;(not (isReceptacleObject ?o))\n )\n :effect\n (and\n (not (inReceptacle ?o ?r))\n (holds ?a ?o)\n (holdsAny ?a)\n (not (objectAtLocation ?o ?l))\n ;(not (full ?r))\n (increase (total-cost) 1)\n )\n )\n\n\n; ;; agent picks up object from a receptacle\n; (:action PickupObjectFromReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n;\n; (not (inReceptacleObject ?o ?outerR))\n; (not (isReceptacleObjectFull ?outerR))\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupEmptyReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; ; (objectAtLocation ?o ?l)\n; (inReceptacle ?o ?r)\n; (pickupable ?o)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (holds ?a ?o)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n;\n; ;; agent picks up object from a receptacle\n; (:action PickupFullReceptacleObject\n; :parameters (?a - agent ?l - location ?o - object ?outerR - object ?r - receptacle)\n; :precondition\n; (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (inReceptacle ?outerR ?r)\n; (pickupable ?outerR)\n; (not (holdsAny ?a)) ; agent's hands are empty.\n; (not (holdsAnyReceptacleObject ?a))\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable.\n; (not (isReceptacleObject ?o))\n; (isReceptacleObject ?outerR)\n; (inReceptacleObject ?o ?outerR)\n; )\n; :effect\n; (and\n; (not (inReceptacle ?o ?r))\n; (not (inReceptacle ?outerR ?r))\n; (holds ?a ?outerR)\n; (holdsAny ?a)\n; (not (objectAtLocation ?o ?l))\n; (not (objectAtLocation ?outerR ?l))\n; (not (full ?r))\n; (increase (total-cost) 1)\n; (holdsAnyReceptacleObject ?a)\n; )\n; )\n\n\n;; agent puts down an object\n (:action PutObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle ?ot - otype ?rt - rtype)\n :precondition (and\n (holds ?a ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n ;(not (full ?r))\n (objectType ?o ?ot)\n (receptacleType ?r ?rt)\n (canContain ?rt ?ot)\n ;(not (holdsAnyReceptacleObject ?a))\n )\n :effect (and\n (inReceptacle ?o ?r)\n (objectAtLocation ?o ?l)\n ;(full ?r)\n (not (holds ?a ?o))\n (not (holdsAny ?a))\n (increase (total-cost) 1)\n )\n )\n\n;;; agent puts down an object\n; (:action PutObjectInReceptacleObject\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?outerO - object ?outerR - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (objectAtLocation ?outerO ?l)\n; (isReceptacleObject ?outerO)\n; (not (isReceptacleObject ?o))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (not (holdsAnyReceptacleObject ?a))\n; (inReceptacle ?outerO ?outerR)\n; (not (isReceptacleObjectFull ?outerO))\n; )\n; :effect (and\n; (inReceptacleObject ?o ?outerO)\n; (inReceptacle ?o ?outerR)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (objectAtLocation ?o ?l)\n; (isReceptacleObjectFull ?outerO)\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down an object\n; (:action PutEmptyReceptacleObjectinReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?o - object ?r - receptacle)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (or (not (openable ?r)) (opened ?r)) ; receptacle is opened if it is openable\n; (not (full ?r))\n; (objectType ?o ?ot)\n; (holds ?a ?o)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?o)\n; (not (isReceptacleObjectFull ?o))\n; )\n; :effect (and\n; (inReceptacle ?o ?r)\n; (objectAtLocation ?o ?l)\n; (full ?r)\n; (not (holds ?a ?o))\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (increase (total-cost) 1)\n; )\n; )\n;\n;;; agent puts down a receptacle object in a receptacle\n; (:action PutFullReceptacleObjectInReceptacle\n; :parameters (?a - agent ?l - location ?ot - otype ?innerO - object ?outerO - object ?r - receptacle) ; ?rt - rtype)\n; :precondition (and\n; (atLocation ?a ?l)\n; (receptacleAtLocation ?r ?l)\n; (objectType ?outerO ?ot)\n; (holds ?a ?outerO)\n; (holdsAnyReceptacleObject ?a)\n; (isReceptacleObject ?outerO)\n; (isReceptacleObjectFull ?outerO)\n; (inReceptacleObject ?innerO ?outerO)\n; )\n; :effect (and\n; (not (holdsAny ?a))\n; (not (holdsAnyReceptacleObject ?a))\n; (objectAtLocation ?outerO ?l)\n; (objectAtLocation ?innerO ?l)\n; (inReceptacle ?outerO ?r)\n; (inReceptacle ?innerO ?r)\n; (not (holds ?a ?outerO))\n; (increase (total-cost) 1)\n; )\n; )\n\n;; agent cleans some object\n (:action CleanObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (cleanable ?o)\n (or\n (receptacleType ?r SinkType)\n (receptacleType ?r SinkBasinType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isClean ?o)\n )\n )\n\n\n;; agent heats-up some object\n (:action HeatObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (heatable ?o)\n (or\n (receptacleType ?r MicrowaveType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isHot ?o)\n (not (isCool ?o))\n )\n )\n\n;; agent cools some object\n (:action CoolObject\n :parameters (?a - agent ?l - location ?r - receptacle ?o - object)\n :precondition (and\n (coolable ?o)\n (or\n (receptacleType ?r FridgeType)\n )\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (holds ?a ?o)\n )\n :effect (and\n (increase (total-cost) 5)\n (isCool ?o)\n (not (isHot ?o))\n )\n )\n\n\n;; agent toggle object\n (:action ToggleObject\n :parameters (?a - agent ?l - location ?o - object ?r - receptacle)\n :precondition (and\n (toggleable ?o)\n (atLocation ?a ?l)\n (receptacleAtLocation ?r ?l)\n (inReceptacle ?o ?r)\n )\n :effect (and\n (increase (total-cost) 5)\n (when (isOn ?o)\n (not (isOn ?o)))\n (when (not (isOn ?o))\n (isOn ?o))\n (isToggled ?o)\n )\n )\n\n\n;; agent slices some object with a knife\n (:action SliceObject\n :parameters (?a - agent ?l - location ?co - object ?ko - object)\n :precondition\n (and\n (sliceable ?co)\n (or\n (objectType ?ko KnifeType)\n (objectType ?ko ButterKnifeType)\n )\n (atLocation ?a ?l)\n (objectAtLocation ?co ?l)\n (holds ?a ?ko)\n )\n :effect (and\n (increase (total-cost) 5)\n (isSliced ?co)\n )\n )\n\n\n(:action help\n :parameters (?a - agent)\n :precondition\n ()\n :effect\n (and\n (checked ?a)\n )\n)\n)\n", "grammar": "grammar :: \"\"\"\n {\n \"intro\": [\n {\n \"rhs\": \"-= Welcome to TextWorld, ALFRED! =-\\n\\n#look.feedback#\\n\\n#task#\"\n }\n ],\n\n \"notImplemented\": [\n {\n \"rhs\": \"TODO\"\n }\n ],\n\n \"task\": [\n {\n \"rhs\": \"Your task is to: find two toiletpaper and put them in 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_172619_990586)\n(:domain alfred)\n(:objects\nagent1 - agent\nSaltShaker - object\n HousePlant - object\n Candle - object\n SprayBottle - object\n Bowl - object\n Window - object\n CD - object\n Egg - object\n Glassbottle - object\n Sink - object\n Pillow - object\n Spoon - object\n SoapBottle - object\n TeddyBear - object\n ButterKnife - object\n Cup - object\n Plate - object\n RemoteControl - object\n Tomato - object\n Statue - object\n HandTowel - object\n Knife - object\n StoveKnob - object\n LightSwitch - object\n Pen - object\n Painting - object\n DishSponge - object\n Vase - object\n Mug - object\n ToiletPaper - object\n Box - object\n Mirror - object\n Ladle - object\n Fork - object\n Blinds - object\n Footstool - object\n KeyChain - object\n Cloth - object\n Laptop - object\n TissueBox - object\n PepperShaker - object\n FloorLamp - object\n WateringCan - object\n Apple - object\n Pan - object\n PaperTowel - object\n PaperTowelRoll - object\n Newspaper - object\n Television - object\n Chair - object\n CellPhone - object\n CreditCard - object\n Lettuce - object\n BasketBall - object\n Potato - object\n Curtains - object\n Boots - object\n Pencil - object\n AlarmClock - object\n ToiletPaperRoll - object\n Spatula - object\n Book - object\n Bread - object\n SoapBar - object\n Watch - object\n DeskLamp - object\n Kettle - object\n Pot - object\n ScrubBrush - object\n WineBottle - object\n ShowerDoor - object\n Bathtub - object\n LaundryHamperLid - object\n ShowerGlass - object\n Poster - object\n TennisRacket - object\n BaseballBat - object\n Towel - object\n Plunger - object\nSaltShakerType - otype\n HousePlantType - otype\n CandleType - otype\n SprayBottleType - otype\n BowlType - otype\n WindowType - otype\n CDType - otype\n EggType - otype\n GlassbottleType - otype\n SinkType - otype\n PillowType - otype\n SpoonType - otype\n SoapBottleType - otype\n TeddyBearType - otype\n ButterKnifeType - otype\n CupType - otype\n PlateType - otype\n RemoteControlType - otype\n TomatoType - otype\n StatueType - otype\n HandTowelType - otype\n KnifeType - otype\n StoveKnobType - otype\n LightSwitchType - otype\n PenType - otype\n PaintingType - otype\n DishSpongeType - otype\n VaseType - otype\n MugType - otype\n ToiletPaperType - otype\n BoxType - otype\n MirrorType - otype\n LadleType - otype\n ForkType - otype\n BlindsType - otype\n FootstoolType - otype\n KeyChainType - otype\n ClothType - otype\n LaptopType - otype\n TissueBoxType - otype\n PepperShakerType - otype\n FloorLampType - otype\n WateringCanType - otype\n AppleType - otype\n PanType - otype\n PaperTowelType - otype\n PaperTowelRollType - otype\n NewspaperType - otype\n TelevisionType - otype\n ChairType - otype\n CellPhoneType - otype\n CreditCardType - otype\n LettuceType - otype\n BasketBallType - otype\n PotatoType - otype\n CurtainsType - otype\n BootsType - otype\n PencilType - otype\n AlarmClockType - otype\n ToiletPaperRollType - otype\n SpatulaType - otype\n BookType - otype\n BreadType - otype\n SoapBarType - otype\n WatchType - otype\n DeskLampType - otype\n KettleType - otype\n PotType - otype\n ScrubBrushType - otype\n WineBottleType - otype\n ShowerDoorType - otype\n BathtubType - otype\n LaundryHamperLidType - otype\n ShowerGlassType - otype\n PosterType - otype\n TennisRacketType - otype\n BaseballBatType - otype\n TowelType - otype\n PlungerType - otype\nSafeType - rtype\n DrawerType - rtype\n CoffeeMachineType - rtype\n HandTowelHolderType - rtype\n SinkBasinType - rtype\n DresserType - rtype\n LaundryHamperType - rtype\n TVStandType - rtype\n BathtubBasinType - rtype\n CabinetType - rtype\n FridgeType - rtype\n DeskType - rtype\n ToiletType - rtype\n CartType - rtype\n SideTableType - rtype\n SofaType - rtype\n CoffeeTableType - rtype\n DiningTableType - rtype\n CounterTopType - rtype\n GarbageCanType - rtype\n ArmChairType - rtype\n ShelfType - rtype\n MicrowaveType - rtype\n ToasterType - rtype\n BedType - rtype\n PaintingHangerType - rtype\n TowelHolderType - rtype\n ToiletPaperHangerType - rtype\n StoveBurnerType - rtype\n OttomanType - rtype\n\n\n Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 - object\n Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 - object\n Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object\n Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object\n HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object\n LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object\n Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object\n Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object\n Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object\n ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object\n ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object\n ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object\n SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 - object\n SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 - object\n SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 - object\n ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object\n ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 - object\n ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 - object\n Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle\n Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle\n CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle\n GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle\n HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle\n Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle\n ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle\n Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle\n TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle\n loc_bar__minus_3_bar_7_bar_3_bar_60 - location\n loc_bar_3_bar_11_bar_2_bar_45 - location\n loc_bar_3_bar_14_bar_1_bar_30 - location\n loc_bar__minus_5_bar_14_bar_3_bar_15 - location\n loc_bar__minus_2_bar_7_bar_2_bar_0 - location\n loc_bar__minus_2_bar_8_bar_3_bar_60 - location\n loc_bar__minus_4_bar_14_bar_3_bar_45 - location\n loc_bar_0_bar_8_bar_1_bar_45 - location\n loc_bar__minus_2_bar_13_bar_3_bar_45 - location\n loc_bar__minus_5_bar_14_bar_3_bar_60 - location\n loc_bar__minus_3_bar_7_bar_2_bar_45 - location\n loc_bar__minus_5_bar_11_bar_3_bar_60 - location\n loc_bar__minus_5_bar_14_bar_0_bar_0 - location\n loc_bar__minus_4_bar_9_bar_3_bar_60 - location\n loc_bar__minus_2_bar_14_bar_3_bar_45 - location\n loc_bar__minus_2_bar_12_bar_3_bar_60 - location\n loc_bar__minus_5_bar_10_bar_3_bar_60 - location\n loc_bar_0_bar_6_bar_0_bar_30 - location\n )\n \n\n(:init\n\n\n (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType)\n (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType)\n (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType)\n (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType)\n (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType)\n (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType)\n (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType)\n (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType)\n (objectType Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 CandleType)\n (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType)\n (objectType SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 SoapBarType)\n (objectType ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 ToiletPaperType)\n (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType)\n (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType)\n (objectType SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 SprayBottleType)\n (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType)\n (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType)\n (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType)\n (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 CandleType)\n (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType)\n (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType)\n (objectType Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 CandleType)\n (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 ClothType)\n (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType)\n (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType)\n (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType)\n (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 SoapBottleType)\n (canContain ToiletType SoapBottleType)\n (canContain ToiletType HandTowelType)\n (canContain ToiletType ToiletPaperType)\n (canContain ToiletType ClothType)\n (canContain ToiletType CandleType)\n (canContain ToiletType SoapBarType)\n (canContain ToiletType SprayBottleType)\n (canContain TowelHolderType TowelType)\n (canContain ToiletPaperHangerType ToiletPaperType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain GarbageCanType SoapBarType)\n (canContain GarbageCanType SprayBottleType)\n (canContain GarbageCanType ToiletPaperType)\n (canContain GarbageCanType SoapBottleType)\n (canContain GarbageCanType ClothType)\n (canContain GarbageCanType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain HandTowelHolderType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (canContain CounterTopType CandleType)\n (canContain CounterTopType SoapBarType)\n (canContain CounterTopType SprayBottleType)\n (canContain CounterTopType ToiletPaperType)\n (canContain CounterTopType SoapBottleType)\n (canContain CounterTopType ClothType)\n (canContain CounterTopType HandTowelType)\n (canContain SinkBasinType SoapBarType)\n (canContain SinkBasinType ClothType)\n (canContain SinkBasinType HandTowelType)\n (canContain CabinetType CandleType)\n (canContain CabinetType SoapBarType)\n (canContain CabinetType SprayBottleType)\n (canContain CabinetType ToiletPaperType)\n (canContain CabinetType SoapBottleType)\n (canContain CabinetType ClothType)\n (canContain CabinetType HandTowelType)\n (canContain CabinetType PlungerType)\n (pickupable Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95)\n (pickupable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74)\n (pickupable ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93)\n (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36)\n (pickupable SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40)\n (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96)\n (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28)\n (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07)\n (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26)\n (pickupable Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70)\n (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81)\n (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07)\n (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22)\n (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87)\n \n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36)\n \n (atLocation agent1 loc_bar_0_bar_6_bar_0_bar_30)\n \n (cleanable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74)\n (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81)\n \n \n \n \n \n \n \n \n \n \n (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15)\n (inReceptacle Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16)\n (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96)\n (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25)\n (inReceptacle ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16)\n (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00)\n (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87)\n (inReceptacle SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin)\n (inReceptacle SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40)\n \n \n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60)\n (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60)\n (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60)\n (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15)\n (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45)\n (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0)\n (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0)\n (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 loc_bar__minus_2_bar_14_bar_3_bar_45)\n (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45)\n (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 loc_bar__minus_2_bar_13_bar_3_bar_45)\n (objectAtLocation SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 loc_bar__minus_5_bar_11_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45)\n (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60)\n (objectAtLocation SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60)\n (objectAtLocation ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60)\n (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30)\n (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60)\n )\n \n\n (:goal\n (and\n (exists (?r - receptacle)\n (exists (?o1 - object)\n (and\n (objectType ?o1 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o1 ?r)\n (exists (?o2 - object)\n (and\n (not (= ?o1 ?o2))\n (objectType ?o2 ToiletPaperType)\n (receptacleType ?r CabinetType)\n (inReceptacle ?o2 ?r)\n )\n )\n )\n )\n )\n )\n )\n )\n ", "solvable": true, "walkthrough": ["go to toiletpaperhanger 1", "take toiletpaper 3 from toiletpaperhanger 1", "go to cabinet 3", "open cabinet 3", "move toiletpaper 3 to cabinet 3", "go to countertop 1", "take toiletpaper 2 from countertop 1", "go to cabinet 3", "move toiletpaper 2 to cabinet 3"]} \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/initial_state.pddl b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/initial_state.pddl new file mode 100644 index 0000000000000000000000000000000000000000..238ade9c1aa21856084c8a32a188bd31a940245f --- /dev/null +++ b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/initial_state.pddl @@ -0,0 +1,454 @@ + +(define (problem plan_trial_T20190907_172619_990586) +(:domain alfred) +(:objects +agent1 - agent +SaltShaker - object + HousePlant - object + Candle - object + SprayBottle - object + Bowl - object + Window - object + CD - object + Egg - object + Glassbottle - object + Sink - object + Pillow - object + Spoon - object + SoapBottle - object + TeddyBear - object + ButterKnife - object + Cup - object + Plate - object + RemoteControl - object + Tomato - object + Statue - object + HandTowel - object + Knife - object + StoveKnob - object + LightSwitch - object + Pen - object + Painting - object + DishSponge - object + Vase - object + Mug - object + ToiletPaper - object + Box - object + Mirror - object + Ladle - object + Fork - object + Blinds - object + Footstool - object + KeyChain - object + Cloth - object + Laptop - object + TissueBox - object + PepperShaker - object + FloorLamp - object + WateringCan - object + Apple - object + Pan - object + PaperTowel - object + PaperTowelRoll - object + Newspaper - object + Television - object + Chair - object + CellPhone - object + CreditCard - object + Lettuce - object + BasketBall - object + Potato - object + Curtains - object + Boots - object + Pencil - object + AlarmClock - object + ToiletPaperRoll - object + Spatula - object + Book - object + Bread - object + SoapBar - object + Watch - object + DeskLamp - object + Kettle - object + Pot - object + ScrubBrush - object + WineBottle - object + ShowerDoor - object + Bathtub - object + LaundryHamperLid - object + ShowerGlass - object + Poster - object + TennisRacket - object + BaseballBat - object + Towel - object + Plunger - object +SaltShakerType - otype + HousePlantType - otype + CandleType - otype + SprayBottleType - otype + BowlType - otype + WindowType - otype + CDType - otype + EggType - otype + GlassbottleType - otype + SinkType - otype + PillowType - otype + SpoonType - otype + SoapBottleType - otype + TeddyBearType - otype + ButterKnifeType - otype + CupType - otype + PlateType - otype + RemoteControlType - otype + TomatoType - otype + StatueType - otype + HandTowelType - otype + KnifeType - otype + StoveKnobType - otype + LightSwitchType - otype + PenType - otype + PaintingType - otype + DishSpongeType - otype + VaseType - otype + MugType - otype + ToiletPaperType - otype + BoxType - otype + MirrorType - otype + LadleType - otype + ForkType - otype + BlindsType - otype + FootstoolType - otype + KeyChainType - otype + ClothType - otype + LaptopType - otype + TissueBoxType - otype + PepperShakerType - otype + FloorLampType - otype + WateringCanType - otype + AppleType - otype + PanType - otype + PaperTowelType - otype + PaperTowelRollType - otype + NewspaperType - otype + TelevisionType - otype + ChairType - otype + CellPhoneType - otype + CreditCardType - otype + LettuceType - otype + BasketBallType - otype + PotatoType - otype + CurtainsType - otype + BootsType - otype + PencilType - otype + AlarmClockType - otype + ToiletPaperRollType - otype + SpatulaType - otype + BookType - otype + BreadType - otype + SoapBarType - otype + WatchType - otype + DeskLampType - otype + KettleType - otype + PotType - otype + ScrubBrushType - otype + WineBottleType - otype + ShowerDoorType - otype + BathtubType - otype + LaundryHamperLidType - otype + ShowerGlassType - otype + PosterType - otype + TennisRacketType - otype + BaseballBatType - otype + TowelType - otype + PlungerType - otype +SafeType - rtype + DrawerType - rtype + CoffeeMachineType - rtype + HandTowelHolderType - rtype + SinkBasinType - rtype + DresserType - rtype + LaundryHamperType - rtype + TVStandType - rtype + BathtubBasinType - rtype + CabinetType - rtype + FridgeType - rtype + DeskType - rtype + ToiletType - rtype + CartType - rtype + SideTableType - rtype + SofaType - rtype + CoffeeTableType - rtype + DiningTableType - rtype + CounterTopType - rtype + GarbageCanType - rtype + ArmChairType - rtype + ShelfType - rtype + MicrowaveType - rtype + ToasterType - rtype + BedType - rtype + PaintingHangerType - rtype + TowelHolderType - rtype + ToiletPaperHangerType - rtype + StoveBurnerType - rtype + OttomanType - rtype + + + Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 - object + Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 - object + Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_02_dot_73 - object + Faucet_bar__minus_01_dot_89_bar__plus_01_dot_01_bar__plus_03_dot_56 - object + HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 - object + LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 - object + Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 - object + Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 - object + Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 - object + ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 - object + ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 - object + ShowerHead_bar__plus_00_dot_87_bar__plus_01_dot_10_bar__plus_02_dot_01 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 - object + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 - object + SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 - object + SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 - object + SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 - object + ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 - object + ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 - object + ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 - object + Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 - object + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 - receptacle + Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 - receptacle + CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 - receptacle + GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 - receptacle + HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin - receptacle + Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin - receptacle + ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 - receptacle + Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 - receptacle + TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 - receptacle + loc_bar__minus_3_bar_7_bar_3_bar_60 - location + loc_bar_3_bar_11_bar_2_bar_45 - location + loc_bar_3_bar_14_bar_1_bar_30 - location + loc_bar__minus_5_bar_14_bar_3_bar_15 - location + loc_bar__minus_2_bar_7_bar_2_bar_0 - location + loc_bar__minus_2_bar_8_bar_3_bar_60 - location + loc_bar__minus_4_bar_14_bar_3_bar_45 - location + loc_bar_0_bar_8_bar_1_bar_45 - location + loc_bar__minus_2_bar_13_bar_3_bar_45 - location + loc_bar__minus_5_bar_14_bar_3_bar_60 - location + loc_bar__minus_3_bar_7_bar_2_bar_45 - location + loc_bar__minus_5_bar_11_bar_3_bar_60 - location + loc_bar__minus_5_bar_14_bar_0_bar_0 - location + loc_bar__minus_4_bar_9_bar_3_bar_60 - location + loc_bar__minus_2_bar_14_bar_3_bar_45 - location + loc_bar__minus_2_bar_12_bar_3_bar_60 - location + loc_bar__minus_5_bar_10_bar_3_bar_60 - location + loc_bar_0_bar_6_bar_0_bar_30 - location + ) + + +(:init + + + (receptacleType Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 ToiletType) + (receptacleType TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 TowelHolderType) + (receptacleType ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 ToiletPaperHangerType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 CabinetType) + (receptacleType GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 GarbageCanType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin SinkBasinType) + (receptacleType HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 HandTowelHolderType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 CabinetType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 CabinetType) + (receptacleType CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 CounterTopType) + (receptacleType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin SinkBasinType) + (receptacleType Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 CabinetType) + (objectType Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 CandleType) + (objectType ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 ShowerDoorType) + (objectType SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 SoapBarType) + (objectType ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 ToiletPaperType) + (objectType Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 MirrorType) + (objectType Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelType) + (objectType SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 SprayBottleType) + (objectType Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 PaintingType) + (objectType HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelType) + (objectType Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 PlungerType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 SinkType) + (objectType Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 CandleType) + (objectType ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperType) + (objectType LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 LightSwitchType) + (objectType Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 CandleType) + (objectType Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 ClothType) + (objectType ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 ToiletPaperType) + (objectType ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 ScrubBrushType) + (objectType Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 SinkType) + (objectType SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 SoapBottleType) + (canContain ToiletType SoapBottleType) + (canContain ToiletType HandTowelType) + (canContain ToiletType ToiletPaperType) + (canContain ToiletType ClothType) + (canContain ToiletType CandleType) + (canContain ToiletType SoapBarType) + (canContain ToiletType SprayBottleType) + (canContain TowelHolderType TowelType) + (canContain ToiletPaperHangerType ToiletPaperType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain GarbageCanType SoapBarType) + (canContain GarbageCanType SprayBottleType) + (canContain GarbageCanType ToiletPaperType) + (canContain GarbageCanType SoapBottleType) + (canContain GarbageCanType ClothType) + (canContain GarbageCanType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain HandTowelHolderType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (canContain CounterTopType CandleType) + (canContain CounterTopType SoapBarType) + (canContain CounterTopType SprayBottleType) + (canContain CounterTopType ToiletPaperType) + (canContain CounterTopType SoapBottleType) + (canContain CounterTopType ClothType) + (canContain CounterTopType HandTowelType) + (canContain SinkBasinType SoapBarType) + (canContain SinkBasinType ClothType) + (canContain SinkBasinType HandTowelType) + (canContain CabinetType CandleType) + (canContain CabinetType SoapBarType) + (canContain CabinetType SprayBottleType) + (canContain CabinetType ToiletPaperType) + (canContain CabinetType SoapBottleType) + (canContain CabinetType ClothType) + (canContain CabinetType HandTowelType) + (canContain CabinetType PlungerType) + (pickupable Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95) + (pickupable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74) + (pickupable ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93) + (pickupable Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36) + (pickupable SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40) + (pickupable HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96) + (pickupable Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28) + (pickupable Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26) + (pickupable Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70) + (pickupable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81) + (pickupable ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07) + (pickupable ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22) + (pickupable SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87) + + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (openable Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36) + + (atLocation agent1 loc_bar_0_bar_6_bar_0_bar_30) + + (cleanable SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74) + (cleanable Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81) + + + + + + + + + + + (inReceptacle SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15) + (inReceptacle Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16) + (inReceptacle Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96) + (inReceptacle Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25) + (inReceptacle ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16) + (inReceptacle HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00) + (inReceptacle ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87) + (inReceptacle SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin) + (inReceptacle SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40) + + + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_02_dot_36 loc_bar__minus_2_bar_8_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_35_bar__plus_03_dot_17 loc_bar__minus_2_bar_12_bar_3_bar_60) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_15 loc_bar__minus_2_bar_14_bar_3_bar_45) + (receptacleAtLocation Cabinet_bar__minus_01_dot_48_bar__plus_00_dot_37_bar__plus_03_dot_96 loc_bar__minus_2_bar_13_bar_3_bar_45) + (receptacleAtLocation CounterTop_bar__minus_01_dot_76_bar__plus_00_dot_67_bar__plus_03_dot_16 loc_bar__minus_4_bar_14_bar_3_bar_45) + (receptacleAtLocation GarbageCan_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (receptacleAtLocation HandTowelHolder_bar__minus_01_dot_67_bar__plus_01_dot_60_bar__plus_04_dot_00 loc_bar__minus_5_bar_14_bar_0_bar_0) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72_bar_SinkBasin loc_bar__minus_5_bar_11_bar_3_bar_60) + (receptacleAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55_bar_SinkBasin loc_bar__minus_5_bar_14_bar_3_bar_60) + (receptacleAtLocation ToiletPaperHanger_bar__minus_01_dot_20_bar__plus_01_dot_01_bar__plus_01_dot_16 loc_bar__minus_3_bar_7_bar_2_bar_45) + (receptacleAtLocation Toilet_bar__minus_01_dot_45_bar__plus_00_dot_00_bar__plus_01_dot_87 loc_bar__minus_4_bar_9_bar_3_bar_60) + (receptacleAtLocation TowelHolder_bar__plus_00_dot_83_bar__plus_01_dot_15_bar__plus_02_dot_25 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation ToiletPaper_bar__minus_01_dot_14_bar__plus_01_dot_01_bar__plus_01_dot_26 loc_bar__minus_3_bar_7_bar_2_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_52_bar__plus_00_dot_92_bar__plus_03_dot_95 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Candle_bar__minus_01_dot_91_bar__plus_00_dot_95_bar__plus_01_dot_70 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_02_dot_72 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation Sink_bar__minus_01_dot_75_bar__plus_00_dot_88_bar__plus_03_dot_55 loc_bar__minus_5_bar_14_bar_3_bar_60) + (objectAtLocation Mirror_bar__minus_01_dot_94_bar__plus_01_dot_53_bar__plus_03_dot_44 loc_bar__minus_5_bar_14_bar_3_bar_15) + (objectAtLocation ShowerDoor_bar__plus_00_dot_53_bar__plus_01_dot_04_bar__plus_02_dot_10 loc_bar_0_bar_8_bar_1_bar_45) + (objectAtLocation Painting_bar__minus_00_dot_57_bar__plus_01_dot_59_bar__plus_01_dot_17 loc_bar__minus_2_bar_7_bar_2_bar_0) + (objectAtLocation Candle_bar__minus_01_dot_97_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation HandTowel_bar__minus_01_dot_67_bar__plus_01_dot_50_bar__plus_03_dot_96 loc_bar__minus_5_bar_14_bar_0_bar_0) + (objectAtLocation SoapBottle_bar__minus_01_dot_85_bar__plus_00_dot_04_bar__plus_02_dot_87 loc_bar__minus_2_bar_14_bar_3_bar_45) + (objectAtLocation Towel_bar__plus_00_dot_83_bar__plus_01_dot_16_bar__plus_02_dot_36 loc_bar_3_bar_11_bar_2_bar_45) + (objectAtLocation Cloth_bar__minus_01_dot_75_bar__plus_00_dot_04_bar__plus_03_dot_81 loc_bar__minus_2_bar_13_bar_3_bar_45) + (objectAtLocation SoapBar_bar__minus_01_dot_65_bar__plus_00_dot_95_bar__plus_02_dot_74 loc_bar__minus_5_bar_11_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_76_bar__plus_00_dot_92_bar__plus_03_dot_93 loc_bar__minus_4_bar_14_bar_3_bar_45) + (objectAtLocation Plunger_bar__minus_01_dot_88_bar__plus_00_dot_00_bar__plus_02_dot_28 loc_bar__minus_5_bar_10_bar_3_bar_60) + (objectAtLocation SprayBottle_bar__minus_01_dot_45_bar__plus_00_dot_07_bar__plus_01_dot_40 loc_bar__minus_3_bar_7_bar_3_bar_60) + (objectAtLocation ToiletPaper_bar__minus_01_dot_89_bar__plus_00_dot_95_bar__plus_02_dot_07 loc_bar__minus_4_bar_9_bar_3_bar_60) + (objectAtLocation LightSwitch_bar__plus_01_dot_25_bar__plus_01_dot_32_bar__plus_03_dot_64 loc_bar_3_bar_14_bar_1_bar_30) + (objectAtLocation ScrubBrush_bar__minus_01_dot_70_bar__plus_00_dot_00_bar__plus_02_dot_22 loc_bar__minus_4_bar_9_bar_3_bar_60) + ) + + + (:goal + (and + (exists (?r - receptacle) + (exists (?o1 - object) + (and + (objectType ?o1 ToiletPaperType) + (receptacleType ?r CabinetType) + (inReceptacle ?o1 ?r) + (exists (?o2 - object) + (and + (not (= ?o1 ?o2)) + (objectType ?o2 ToiletPaperType) + (receptacleType ?r CabinetType) + (inReceptacle ?o2 ?r) + ) + ) + ) + ) + ) + ) + ) + ) + \ No newline at end of file diff --git a/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/traj_data.json b/data/alfworld/json_2.1.1/train/pick_two_obj_and_place-ToiletPaper-None-Cabinet-428/trial_T20190907_172619_990586/traj_data.json new file mode 100644 index 0000000000000000000000000000000000000000..29f9c1a7e816fc1aaf849c4637158fbbb7f7e9c3 --- /dev/null +++ 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